TrafficRules.h

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#pragma once
#include <lanelet2_core/Forward.h>
#include <lanelet2_core/primitives/Lanelet.h>
 
namespace lanelet {
namespace traffic_rules {
 
struct SpeedLimitInformation {
  Velocity speedLimit;     
  bool isMandatory{true};  
};
 
class TrafficRules;
using TrafficRulesPtr = std::shared_ptr<TrafficRules>;
using TrafficRulesUPtr = std::unique_ptr<TrafficRules>;
 
class TrafficRules {  // NOLINT
 public:
  using Configuration = std::map<std::string, Attribute>;
 
  explicit TrafficRules(Configuration config = Configuration()) : config_{std::move(config)} {}
  virtual ~TrafficRules();
 
  virtual bool canPass(const ConstLanelet& lanelet) const = 0;
 
  virtual bool canPass(const ConstArea& area) const = 0;
 
  virtual bool canPass(const ConstLanelet& from, const ConstLanelet& to) const = 0;
  virtual bool canPass(const ConstLanelet& from, const ConstArea& to) const = 0;
  virtual bool canPass(const ConstArea& from, const ConstLanelet& to) const = 0;
  virtual bool canPass(const ConstArea& from, const ConstArea& to) const = 0;
 
  virtual bool canChangeLane(const ConstLanelet& from, const ConstLanelet& to) const = 0;
 
  virtual SpeedLimitInformation speedLimit(const ConstLanelet& lanelet) const = 0;
 
  virtual SpeedLimitInformation speedLimit(const ConstArea& area) const = 0;
 
  virtual bool isOneWay(const ConstLanelet& lanelet) const = 0;
 
  virtual bool hasDynamicRules(const ConstLanelet& lanelet) const = 0;
 
  const Configuration& configuration() const { return config_; }
 
  const std::string& participant() const;
 
  const std::string& location() const;
 
 private:
  Configuration config_;
};
 
std::ostream& operator<<(std::ostream& stream, const SpeedLimitInformation& obj);
 
std::ostream& operator<<(std::ostream& stream, const TrafficRules& obj);
 
}  // namespace traffic_rules
}  // namespace lanelet