alane.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 "trafficobject.h"
#include "conflictset.h"
 
namespace adore
{
    namespace view
    {
        class ALane
        {
          public:
            virtual bool isValid()const =0;
            virtual double getSMax()const=0;
            virtual double getSMin()const=0;
            bool inSRange(double s)const
            {
                return getSMin()<s && s<getSMax();
            }
            virtual double getProgressOfWidthOpen()const =0;
            virtual double getProgressOfWidthClosed()const =0;
            virtual const TrafficQueue& getOnLaneTraffic()const =0;
            virtual const ConflictSet& getConflictSet()const =0;
            virtual double getSpeedLimit(double s) =0;
            virtual double getLeftIndicatorHint(double s) =0;
            virtual double getRightIndicatorHint(double s) =0;
            virtual bool hasSpeedRecommendation(double s)const =0;
            virtual double getSpeedRecommendation(double s)const =0;
            virtual double getNavigationCost(double s) =0;
            virtual void boundNavigationCost(double s0,double s1,double& cmin,double& cmax) =0;
            virtual double getHeading(double s) =0;
            virtual double getCurvature(double s, int derivative)  =0;
            virtual double getOffsetOfLeftBorder(double s)  =0;
            virtual double getOffsetOfRightBorder(double s)  =0;
            virtual void toRelativeCoordinates(double xe,double ye,double& s,double& n)  =0;
            virtual void toEucledianCoordinates(double s,double n,double& xe,double& ye,double& ze)  =0;
        };
    }
}