Make some ResponseStateOperations public

CHANGELOG.md

@@ -1,5 +1,7 @@
 ## Latest changes
+* Made some RssState operations available via public interface
 * Add option to select library build type (static/dynamic)
+
 ## Release 1.3.0
 * Allow multiple situations per ego vehicle/object pair: Add RssSituationIdProvider and made RssSituationExtraction a class holding RssSituationIdProvider instance to keep track of the different situation classes
 * Renamed world::Dynamics in world::RssDynamics, extended it by responseTime and separated it from world::Object; world::Scene got the objectRssDynamics and world::WorldModel the egoVehicleRssDynamics each as separate elements

include/ad_rss/state/ResponseStateOperation.hpp

@@ -0,0 +1,85 @@
+// ----------------- BEGIN LICENSE BLOCK ---------------------------------
+//
+// Copyright (c) 2018-2019 Intel Corporation
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// 1. Redistributions of source code must retain the above copyright notice,
+//    this list of conditions and the following disclaimer.
+//
+// 2. Redistributions in binary form must reproduce the above copyright notice,
+//    this list of conditions and the following disclaimer in the documentation
+//    and/or other materials provided with the distribution.
+//
+// 3. Neither the name of the copyright holder nor the names of its contributors
+//    may be used to endorse or promote products derived from this software without
+//    specific prior written permission.
+//
+//    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+//    ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+//    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+//    IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+//    INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+//    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+//    OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+//    WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+//    ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+//    POSSIBILITY OF SUCH DAMAGE.
+//
+// ----------------- END LICENSE BLOCK -----------------------------------
+/**
+ * @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

src/core/RssCheck.cpp

@@ -87,7 +87,7 @@ bool RssCheck::calculateAccelerationRestriction(world::WorldModel const &worldMo
       // if the worldModel contains no relevant object (or no objects at all)
       // the responseStateVector will be empty. Thus, we need to add a "all safe" response
       state::ResponseState const safeResponse
-        = state::createResponseState(worldModel.timeIndex, situation::SituationId(0), state::IsSafe::Yes);
+        = createResponseState(worldModel.timeIndex, situation::SituationId(0), IsSafe::Yes);
       responseStateVector.push_back(safeResponse);
     }
 

src/core/RssResponseResolving.cpp

@@ -31,6 +31,7 @@
 
 #include "ad_rss/core/RssResponseResolving.hpp"
 #include <algorithm>
+#include "ad_rss/state/ResponseStateOperation.hpp"
 #include "ad_rss/state/ResponseStateVectorValidInputRange.hpp"
 #include "core/RssState.hpp"
 
@@ -53,7 +54,7 @@ bool RssResponseResolving::provideProperResponse(state::ResponseStateVector cons
   // global try catch block to ensure this library call doesn't throw an exception
   try
   {
-    responseState = state::createResponseState(physics::TimeIndex(0u), situation::SituationId(0), state::IsSafe::Yes);
+    responseState = createResponseState(physics::TimeIndex(0u), situation::SituationId(0), IsSafe::Yes);
 
     RssStateBeforeDangerThresholdTimeMap newStatesBeforeDangerThresholdTime;
 

src/core/RssSituationChecking.cpp

@@ -73,12 +73,12 @@ bool RssSituationChecking::checkSituationInputRangeChecked(situation::Situation
       return false;
     }
 
-    response = state::createResponseState(situation.timeIndex, situation.situationId, state::IsSafe::No);
+    response = createResponseState(situation.timeIndex, situation.situationId, IsSafe::No);
 
     switch (situation.situationType)
     {
       case situation::SituationType::NotRelevant:
-        response = state::createResponseState(situation.timeIndex, situation.situationId, state::IsSafe::Yes);
+        response = createResponseState(situation.timeIndex, situation.situationId, IsSafe::Yes);
         result = true;
         break;
       case situation::SituationType::SameDirection:

src/core/RssState.hpp

@@ -42,45 +42,9 @@
  */
 namespace ad_rss {
 /*!
- * @brief namespace for RSS state datatypes and operations
+ * @brief namespace core
  */
-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 core {
 
 /**
  * @brief determine the resulting RSS state
@@ -147,5 +111,5 @@ inline state::ResponseState createResponseState(physics::TimeIndex const &timeIn
   return safeResponse;
 }
 
-} // namespace state
+} // namespace core
 } // namespace ad_rss

tests/CMakeLists.txt

@@ -67,12 +67,12 @@ set(RSS_TEST_SOURCES
   core/RssSituationExtractionSameDirectionTests.cpp
   core/RssSituationIdProviderTests.cpp
   core/RssStateCombineRssStateTests.cpp
-  core/RssStateSafeTests.cpp
   physics/MathUnitTestsDistanceOffsetAfterResponseTime.cpp
   physics/MathUnitTestsInputRangeChecks.cpp
   physics/MathUnitTestsStoppingDistance.cpp
   physics/MathUnitTestsTimeToCoverDistance.cpp
   physics/MathUnitTestsVelocityAfterResponseTime.cpp
+  state/RssStateSafeTests.cpp
   situation/RssFormulaTestsCalculateDistanceAfterStatedBrakingPattern.cpp
   situation/RssFormulaTestsCalculateSafeLateralDistance.cpp
   situation/RssFormulaTestsCalculateSafeLongitudinalDistanceSameDirection.cpp

tests/core/RssStateCombineRssStateTests.cpp

@@ -33,7 +33,7 @@
 #include "core/RssState.hpp"
 
 namespace ad_rss {
-namespace state {
+namespace core {
 
 TEST(RssStateCombineRssStateTests, longitudinal_previous_Safe)
 {
@@ -105,5 +105,5 @@ TEST(RssStateCombineRssStateTests, lateral_previous_BrakeMin)
             cTestSupport.cLateralBrakeMin);
 }
 
-} // namespace state
+} // namespace core
 } // namespace ad_rss

tests/core/RssStateSafeTests.cpp → tests/state/RssStateSafeTests.cpp

@@ -29,11 +29,11 @@
 //
 // ----------------- END LICENSE BLOCK -----------------------------------
 
+#include <ad_rss/state/ResponseStateOperation.hpp>
 #include "TestSupport.hpp"
-#include "core/RssState.hpp"
 
 namespace ad_rss {
-namespace core {
+namespace state {
 
 TEST(RssStateSafeTests, isSafe)
 {
@@ -153,5 +153,5 @@ TEST(RssStateSafeTests, longitudinal_lateralLeft_BrakeMin)
   ASSERT_FALSE(isLateralSafe(responseState));
 }
 
-} // namespace core
+} // namespace state
 } // namespace ad_rss