relative_distance_condition.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_DISTANCE_CONDITION_HPP_
#define OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_DISTANCE_CONDITION_HPP_
 
#include <openscenario_interpreter/scope.hpp>
#include <openscenario_interpreter/simulator_core.hpp>
#include <openscenario_interpreter/syntax/coordinate_system.hpp>
#include <openscenario_interpreter/syntax/entity.hpp>
#include <openscenario_interpreter/syntax/relative_distance_type.hpp>
#include <openscenario_interpreter/syntax/routing_algorithm.hpp>
#include <openscenario_interpreter/syntax/rule.hpp>
#include <openscenario_interpreter/syntax/string.hpp>
#include <openscenario_interpreter/syntax/triggering_entities.hpp>
#include <pugixml.hpp>
#include <valarray>
 
namespace openscenario_interpreter
{
inline namespace syntax
{
/*
   RelativeDistanceCondition (OpenSCENARIO XML 1.3)
 
   The current relative distance of a triggering entity/entities to a reference
   entity is compared to a given value. The logical operator used for comparison
   is defined in the rule attribute.
 
   <xsd:complexType name="RelativeDistanceCondition">
     <xsd:attribute name="entityRef" type="String" use="required"/>
     <xsd:attribute name="freespace" type="Boolean" use="required"/>
     <xsd:attribute name="relativeDistanceType" type="RelativeDistanceType" use="required"/>
     <xsd:attribute name="rule" type="Rule" use="required"/>
     <xsd:attribute name="value" type="Double" use="required"/>
     <xsd:attribute name="coordinateSystem" type="CoordinateSystem"/>
     <xsd:attribute name="routingAlgorithm" type="RoutingAlgorithm"/>
   </xsd:complexType>
*/
struct RelativeDistanceCondition : private Scope, private SimulatorCore::ConditionEvaluation
{
  /*
     Definition of the coordinate system to be used for calculations. If not
     provided the value is interpreted as "entity".
  */
  const CoordinateSystem coordinate_system;
 
  /*
     Reference entity.
  */
  const Entity entity_ref;
 
  /*
     True: distance is measured between closest bounding box points.
     False: reference point distance is used.
  */
  const Boolean freespace;
 
  /*
     Definition of the coordinate system dimension(s) to be used for
     calculating distances.
  */
  const RelativeDistanceType relative_distance_type;
 
  /*
     Algorithm for path selection/calculation between two positions across roads. Only relevant, if CoordinateSystem is "road"/"lane". Default value if omitted: "undefined".
  */
  const RoutingAlgorithm routing_algorithm;
 
  /*
     The operator (less, greater, equal).
  */
  const Rule rule;
 
  /*
     The distance value. Unit: m; Range: [0..inf[.
  */
  const Double value;
 
  const TriggeringEntities triggering_entities;
 
  std::vector<std::valarray<double>> results;  // for description
 
  const bool consider_z;
 
  explicit RelativeDistanceCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &);
 
  auto description() const -> String;
 
  template <
    CoordinateSystem::value_type, RelativeDistanceType::value_type, RoutingAlgorithm::value_type,
    Boolean::value_type>
  auto distance(const EntityRef &) -> double
  {
    throw SyntaxError(__FILE__, ":", __LINE__);
  }
 
  auto distance(const EntityRef &) -> double;
 
  auto evaluate() -> Object;
};
 
// Ignore spell miss due to OpenSCENARIO standard.
// cspell: ignore euclidian
 
// clang-format off
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  true >(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  false>(const EntityRef &) -> double;
template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  true >(const EntityRef &) -> double;
// clang-format on
}  // namespace syntax
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__RELATIVE_DISTANCE_CONDITION_HPP_