planning_result.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:
 *   Daniel Heß - initial API and implementation
 ********************************************************************************/
#pragma once
#include <string>
#include <map>
#include <adore/fun/setpointrequest.h>
#include <adore/fun/terminalrequest.h>
#include <adore/mad/occupancycylinder.h>
 
namespace adore
{
    namespace fun
    {
        struct PlanningResult
        {
            int id;           
            int iteration;    
            std::string name; 
            SetPointRequest nominal_maneuver; 
            SetPointRequest combined_maneuver; 
            TerminalRequest terminal_maneuver; 
            adore::mad::OccupancyCylinderTree nominal_maneuver_swath;  
            adore::mad::OccupancyCylinderTree combined_maneuver_swath; 
            adore::mad::LLinearPiecewiseFunctionM<double, 4> nominal_maneuver_longitudinal_plan; 
            adore::mad::LLinearPiecewiseFunctionM<double, 3> nominal_maneuver_longitudinal_lbx;  
            adore::mad::LLinearPiecewiseFunctionM<double, 3> nominal_maneuver_longitudinal_ubx;  
            adore::mad::LLinearPiecewiseFunctionM<double, 4> nominal_maneuver_lateral_plan; 
            adore::mad::LLinearPiecewiseFunctionM<double, 3> nominal_maneuver_lateral_lbx;  
            adore::mad::LLinearPiecewiseFunctionM<double, 3> nominal_maneuver_lateral_ubx;  
            bool nominal_maneuver_valid;
            bool combined_maneuver_valid;
            std::string status_string; 
            std::unordered_map<std::string, double> objective_values;   
            std::unordered_map<std::string, double> performance_values; 
            int maneuver_type;                                          
            static const int COLLISION_MITIGATION = 0;                  
            static const int EMERGENCY_BREAKING = 1;                    
            static const int NOMINAL_DRIVING = 2;                       
            bool indicator_left;
            bool indicator_right;
            PlanningResult()
              : nominal_maneuver_valid(false)
              , combined_maneuver_valid(false)
              , iteration(0)
              , indicator_left(false)
              , indicator_right(false)
            {
            }
            double getObjectiveValue(std::string name,double bound)
            {
                auto it = objective_values.find(name);
                if( it == objective_values.end() ) return bound;
                else return it->second;
            }
        };
 
 
        typedef std::vector<PlanningResult> TPlanningResultSet;
    }  // namespace fun
}  // namespace adore