route_calculation_helper.h

// Copyright 2023 The SOLA authors
//
// This file is part of DAISI.
//
// DAISI is free software: you can redistribute it and/or modify it under the terms of the GNU
// General Public License as published by the Free Software Foundation; version 2.
//
// DAISI is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
// the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with DAISI. If not, see
// <https://www.gnu.org/licenses/>.
//
// SPDX-License-Identifier: GPL-2.0-only
 
#ifndef DAISI_PATH_PLANNING_CONSENSUS_ROUTE_CALCULATION_HELPER_H_
#define DAISI_PATH_PLANNING_CONSENSUS_ROUTE_CALCULATION_HELPER_H_
 
#include "path_planning/constants.h"
 
namespace daisi::path_planning::consensus {
struct RouteCalculationHelper {
  [[nodiscard]] static double calculatePossibleStartTime(
      const PointTimePairs &points, double initial_start_time, double max_preplanning_time_s,
      double time_between_intersections_s, const IntersectionOccupancy &intersection_occupancy);
 
private:
  [[nodiscard]] static bool possibleRoute(const PointTimePairs &points, double start_time_s,
                                          double time_between_intersections_s,
                                          const IntersectionOccupancy &intersection_occupancy);
};
}  // namespace daisi::path_planning::consensus
 
#endif  // DAISI_PATH_PLANNING_CONSENSUS_ROUTE_CALCULATION_HELPER_H_