GenericTrafficRules.h

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#pragma once
#include <lanelet2_core/Forward.h>
#include <lanelet2_core/primitives/Lanelet.h>
 
#include "lanelet2_traffic_rules/TrafficRules.h"
 
namespace lanelet {
namespace traffic_rules {
 
enum class LaneChangeType { ToRight, ToLeft, Both, None };
struct CountrySpeedLimits {
  SpeedLimitInformation vehicleUrbanRoad;
  SpeedLimitInformation vehicleNonurbanRoad;
  SpeedLimitInformation vehicleUrbanHighway;
  SpeedLimitInformation vehicleNonurbanHighway;
  SpeedLimitInformation playStreet;
  SpeedLimitInformation pedestrian;
  SpeedLimitInformation bicycle;
};
 
class TrafficRules;
using TrafficRulesPtr = std::shared_ptr<TrafficRules>;
using TrafficRulesUPtr = std::unique_ptr<TrafficRules>;
 
class GenericTrafficRules : public TrafficRules {  // NOLINT
 public:
  using TrafficRules::TrafficRules;
 
  bool canPass(const ConstLanelet& lanelet) const override;
 
  bool canPass(const ConstArea& area) const override;
 
  bool canPass(const ConstLanelet& from, const ConstLanelet& to) const override;
  bool canPass(const ConstLanelet& from, const ConstArea& to) const override;
  bool canPass(const ConstArea& from, const ConstLanelet& to) const override;
  bool canPass(const ConstArea& from, const ConstArea& to) const override;
 
  bool canChangeLane(const ConstLanelet& from, const ConstLanelet& to) const override;
 
  SpeedLimitInformation speedLimit(const ConstLanelet& lanelet) const override;
 
  SpeedLimitInformation speedLimit(const ConstArea& area) const override;
 
  bool isOneWay(const ConstLanelet& lanelet) const override;
 
  bool hasDynamicRules(const ConstLanelet& lanelet) const override;
 
 protected:
  virtual Optional<bool> canPass(const RegulatoryElementConstPtrs& regElems) const = 0;
 
  virtual Optional<bool> canPass(const std::string& type, const std::string& /*location*/) const;
 
  virtual LaneChangeType laneChangeType(const ConstLineString3d& boundary, bool virtualIsPassable) const;
 
  virtual const CountrySpeedLimits& countrySpeedLimits() const = 0;
 
  virtual Optional<SpeedLimitInformation> speedLimit(const RegulatoryElementConstPtrs& regelems) const = 0;
 
 private:
  SpeedLimitInformation speedLimit(const RegulatoryElementConstPtrs& regelems, const AttributeMap& attributes) const;
};
}  // namespace traffic_rules
}  // namespace lanelet