platooningInformation.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: 
 *   Reza Dariani - initial API and implementation
 ********************************************************************************/
 
#pragma once
#include <vector>
#include <adore_if_ros_msg/CooperativePlanning.h>
//#include <adore/fun/logic/platoonLogic.h>
 
namespace adore
{
    namespace fun
    {
        class PlatooningInformation
        {
        private:
            double ToleratedDistanceAhead;
            double ToleratedDistanceBehind;
            unsigned int    TargetAutomationLevel;
            int    LanePosition;
            int    id;
 
        public:
            void set(adore_if_ros_msg::CooperativePlanningConstPtr msg)
            {
                this->ToleratedDistanceAhead=msg->tolerated_distance_ahead;
                this->ToleratedDistanceBehind=msg->tolerated_distance_behind;
                this->TargetAutomationLevel=msg->target_automation_level;
                this->LanePosition = msg->lane_position;
                this->id = msg->id;
                //std::cout<<"\n"<<this->LanePosition <<"\t"<<this->TargetAutomationLevel;
            }
            void setToleratedDistanceAhead(double tda) {ToleratedDistanceAhead = tda;}
            void setToleratedDistanceBehind(double tdb) {ToleratedDistanceBehind = tdb;}
            void setTargetAutomationLevel(unsigned int tal) {TargetAutomationLevel = tal;}
            void setLanePosition(int lp) {LanePosition = lp;}
            void setId(int id) {this->id = id;}
            double getToleratedDistanceAhead()const{return ToleratedDistanceAhead;}
            double getToleratedDistanceBehind()const{return ToleratedDistanceBehind;}
            unsigned int getTargetAutomationLevel()const{return TargetAutomationLevel;}
            int getLanePosition()const{return LanePosition;}
            int getId()const{return id;}
 
            // maximum urban velocity (13.6) * (3) second time headway = 40.8
            //platoonLogic::SAE_LEVEL2 --> 2
            //platoonLogic::outermostDrivingLane --> 
            PlatooningInformation():ToleratedDistanceAhead(40.8),ToleratedDistanceBehind(40.8),TargetAutomationLevel(2),LanePosition(1), id(-1) {}    
            PlatooningInformation(double ToleratedDistanceAhead,double ToleratedDistanceBehind,unsigned int TargetAutomationLevel,int LanePosition, int id):ToleratedDistanceAhead(ToleratedDistanceAhead),ToleratedDistanceBehind(ToleratedDistanceBehind),TargetAutomationLevel(TargetAutomationLevel),LanePosition(LanePosition), id(id){}
        };
    }
}