ResponseStateOperation.hpp

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/**
 * @file
 */

#pragma once

#include "ad_rss/state/ResponseState.hpp"

/*!
 * @brief namespace ad_rss
 */
namespace ad_rss {
/*!
 * @brief namespace for RSS state datatypes and operations
 */
namespace state {

/**
 * @brief is response state longitudinal safe
 *
 * @param[in] responseState to check
 *
 * true if safe, false if not
 */
inline bool isLongitudinalSafe(ResponseState const &responseState)
{
  return responseState.longitudinalState.isSafe;
}

/**
 * @brief is response state lateral safe
 *
 * @param[in] responseState to check
 *
 * true if safe, false if not
 */
inline bool isLateralSafe(ResponseState const &responseState)
{
  return responseState.lateralStateRight.isSafe && responseState.lateralStateLeft.isSafe;
}

/**
 * @brief is response state dangerous
 *
 * @param[in] responseState to check
 *
 * true if dangerous, false if not
 */
inline bool isDangerous(ResponseState const &responseState)
{
  return !isLongitudinalSafe(responseState) && !isLateralSafe(responseState);
}

} // namespace state
} // namespace ad_rss