r2s2borderbased.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: 
 *   Robert Markowski - initial API and implementation
 ********************************************************************************/
 
#pragma once
#include <string>
#include <map>
#include <adore/if_r2s/r2sauxiliary.h>
#include <adore/env/borderbased/borderset.h>
 
namespace adore
{
    namespace if_r2s
    {
        class R2S2BorderBasedConverter
        {
            public:
            typedef std::map<int,Section> TSectionMap;
            typedef std::map<int,TFunctionTypePair> TDist2Function;
            
            private:
            bool extractOnlyReferenceLines_;
            
            private:
            void group(TReferenceLineVector rlm, TLaneBorderVector lbv, TSectionMap& sectionmap);
            void convertToBorder(TSectionMap sectionmap, env::BorderBased::BorderSet& targetset);
            env::BorderBased::BorderType::TYPE convertLaneBorderType(LaneBorder::TYPE type);
            void sortFunctionsByDistance(std::vector<TFunctionTypePair>& functions, TDist2Function& dist2function, double s0, double s1);
            void createBorders(TDist2Function& dist2function, double s0, double s1, int max_points, adore::env::BorderBased::BorderSet& targetSet, bool inverted);
            void do_convert(std::string referenceLineFile, std::string laneBorderFile, env::BorderBased::BorderSet& targetset, TSectionMap& sectionmap);
            
            public:
            R2S2BorderBasedConverter();
            void toBorders(const TReferenceLineVector& reflines,const TLaneBorderVector& laneborders,env::BorderBased::BorderSet& targetset);
            void convert(std::string referenceLineFile, std::string laneBorderFile, env::BorderBased::BorderSet& targetset);
            void convert(std::string referenceLineFile, std::string laneBorderFile, env::BorderBased::BorderSet& targetset, TSectionMap& sectionmap);
            void cleanup(TSectionMap& sectionmap);
            void setExtractOnlyReferenceLines(bool b);
        };
    }
}