RssRestrictor.h

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// Copyright (c) 2019-2020 Intel Corporation
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include <spdlog/spdlog.h>
#include <memory>
 
namespace ad {
namespace rss {
namespace state {
 
/// @brief forward declararion for the RSS proper response
struct ProperResponse;
 
}  // namespace world
}  // namespace rss
}  // namespace ad
 
namespace carla {
namespace rpc {
class VehicleControl;
class VehiclePhysicsControl;
}  // namespace rpc
 
namespace rss {
 
/// @brief forward declararion for ego vehicles current dynamics in respect to
/// the current route
struct EgoDynamicsOnRoute;
 
/// @brief class implementing the RSS restrictions within CARLA
class RssRestrictor {
public:
  /// @brief constructor
  RssRestrictor();
 
  /// @brief destructor
  ~RssRestrictor();
 
  /// @brief the actual function to restrict the given vehicle control input to
  /// mimick
  ///        RSS conform behavior by braking
  ///        Lateral braking is achieved by counter-steering, so is only a very
  ///        rough solution
  carla::rpc::VehicleControl RestrictVehicleControl(const carla::rpc::VehicleControl &vehicle_control,
                                                    const ::ad::rss::state::ProperResponse &proper_response,
                                                    const carla::rss::EgoDynamicsOnRoute &ego_dynamics_on_route,
                                                    const carla::rpc::VehiclePhysicsControl &vehicle_physics);
 
  void SetLogLevel(const uint8_t log_level);
 
private:
  /// @brief the logger instance
  std::shared_ptr<spdlog::logger> _logger;
};
 
}  // namespace rss
}  // namespace carla