lanechangeviewproxy.h

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/********************************************************************************
 * Copyright (C) 2017-2020 German Aerospace Center (DLR).
 * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
 *
 * This program and the accompanying materials are made available under the
 * terms of the Eclipse Public License 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0.
 *
 * SPDX-License-Identifier: EPL-2.0
 *
 * Contributors:
 *   Thomas Lobig - initial API and implementation
 ********************************************************************************/
 
#pragma once
#include <adore/view/alanechangeview.h>
#include <adore/env/borderbased/lanegeometrydataproxy.h>
#include <adore/env/borderbased/lanefollowingviewproxy.h>
 
// TODO dependency on traffic and conflictset should be removed once it is removed in alane.h
#include <adore/env/traffic/egolanetraffic.h>
#include <adore/env/borderbased/conflictset.h>
 
namespace adore
{
    namespace env
    {
        namespace BorderBased
        {
            class LaneChangeViewProxy : public adore::view::ALaneChangeView
            {
              private:
                // std::shared_ptr<LaneGeometryDataProxy> lane_;
                // std::shared_ptr<LaneGeometryDataProxy> targetLane_;
                std::shared_ptr<LaneFollowingViewProxy> sourceLane_;
                std::shared_ptr<LaneFollowingViewProxy> targetLane_;
                std::shared_ptr<LaneChangeDataProxy> laneChangeData_;
                // double limitS(double s)
                // {
                //     // std::cout << "s_min " << lane_->s_min << " - s_max " << lane_->s_max << std::flush;
                //     return adore::mad::bound(lane_->s_min, s + lane_->s_min, lane_->s_max);
                // }
 
              public:
                LaneChangeViewProxy(std::shared_ptr<LaneGeometryDataProxy> sourceLaneGeometryData,
                                    std::shared_ptr<LaneGeometryDataProxy> targetLaneGeometryData,
                                    std::shared_ptr<LaneChangeDataProxy> laneChangeData)
                  : sourceLane_(std::make_shared<LaneFollowingViewProxy>(sourceLaneGeometryData))
                  , targetLane_(std::make_shared<LaneFollowingViewProxy>(targetLaneGeometryData))
                  , laneChangeData_(laneChangeData)
                {
                }
 
                virtual adore::view::ALane* getSourceLane() override
                {
                    throw std::logic_error("Not implemented"); // seems to never be used
                    return sourceLane_.get();
                }
                virtual adore::view::ALane* getTargetLane() override
                {
                    return targetLane_.get();
                }
                virtual adore::view::ALaneChangeView::direction getLCDirection() const override
                {
                    return laneChangeData_->direction;
                }
                virtual double getProgressOfGateOpen() const override
                {
                    return laneChangeData_->gate_s0;
                }
                virtual double getProgressOfGateClosed() const override
                {
                    return laneChangeData_->gate_s1;
                }
                virtual double getOffsetOfStartOuterBorder(double s) override
                {
                    return laneChangeData_->sourceOuterBorderDistance_fct(s);
                }
                virtual double getOffsetOfSeparatingBorder(double s) override
                {
                    return laneChangeData_->separatingBorderDistance_fct(s);
                }
                virtual double getOffsetOfDestinationOuterBorder(double s) override
                {
                    return laneChangeData_->targetOuterBorderDistance_fct(s);
                }
                virtual double getNavigationCostDifference() override
                {
                    return 0.0;
                }
 
            };
        }  // namespace BorderBased
    }      // namespace env
}  // namespace adore