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       1                 :            : // ----------------- BEGIN LICENSE BLOCK ---------------------------------
       2                 :            : //
       3                 :            : // Copyright (C) 2018-2021 Intel Corporation
       4                 :            : //
       5                 :            : // SPDX-License-Identifier: MIT
       6                 :            : //
       7                 :            : // ----------------- END LICENSE BLOCK -----------------------------------
       8                 :            : /**
       9                 :            :  * @file
      10                 :            :  */
      11                 :            : 
      12                 :            : #pragma once
      13                 :            : 
      14                 :            : #include "ad/map/point/CoordinateTransform.hpp"
      15                 :            : #include "ad/map/point/ECEFEdge.hpp"
      16                 :            : #include "ad/map/point/ENUEdge.hpp"
      17                 :            : #include "ad/map/point/GeoEdge.hpp"
      18                 :            : #include "ad/map/point/Geometry.hpp"
      19                 :            : #include "ad/physics/ParametricRange.hpp"
      20                 :            : 
      21                 :            : /** @brief namespace ad */
      22                 :            : namespace ad {
      23                 :            : /** @brief namespace map */
      24                 :            : namespace map {
      25                 :            : /** @brief namespace point */
      26                 :            : namespace point {
      27                 :            : 
      28                 :            : /**
      29                 :            :  * @brief validity check
      30                 :            :  *
      31                 :            :  * @param[in] geometry the geometry to check
      32                 :            :  */
      33                 :      47010 : inline bool isValid(Geometry const &geometry)
      34                 :            : {
      35                 :      47010 :   return geometry.isValid;
      36                 :            : }
      37                 :            : 
      38                 :            : /**
      39                 :            :  * @brief create a geometry
      40                 :            :  * @param[in] points the points to create the geometry from
      41                 :            :  * @param[in] closed should the geometry be closed?
      42                 :            :  */
      43                 :            : Geometry createGeometry(const ECEFEdge &points, bool closed);
      44                 :            : 
      45                 :            : /**
      46                 :            :  * @brief get the cached ENUEdge for a geometry
      47                 :            :  * @param[in] geometry the geometry to work on
      48                 :            :  * @returns Polyline that defines this Geometry in the ENU frame.
      49                 :            :  * \note    Prior to the method call, valid coordinate transformation object must
      50                 :            :  *          be set using SetCoordinateTransform().
      51                 :            :  *          ENU geometry will be calculated on-the-fly if
      52                 :            :  *          - it was not previously calculated, or
      53                 :            :  *          - ENU reference point has been changed.
      54                 :            :  */
      55                 :            : ENUEdge getCachedENUEdge(Geometry const &geometry);
      56                 :            : 
      57                 :            : /**
      58                 :            :  * @brief Checks if Geometry is longitudinally connected with another Geometry at the end.
      59                 :            :  * @param[in] other Other object. Must be IsValid()!
      60                 :            :  * @returns True if this Geometry longitudinally connected with another Geometry at the end.
      61                 :            :  */
      62                 :            : bool isSuccessor(Geometry const &edge, const Geometry &other);
      63                 :            : 
      64                 :            : /**
      65                 :            :  * @brief Checks if Geometry is longitudinally connected with another Geometry at the start.
      66                 :            :  * @param[in] other Other object. Must be IsValid()!
      67                 :            :  * @returns True if this Geometry longitudinally connected with another Geometry at the start.
      68                 :            :  */
      69                 :            : bool isPredecessor(Geometry const &edge, const Geometry &other);
      70                 :            : 
      71                 :            : /**
      72                 :            :  * @brief Checks if two edges have same start point.
      73                 :            :  * @param[in] other Other object. Must be IsValid()!
      74                 :            :  * @returns True if this Geometry have same start point as another Geometry.
      75                 :            :  */
      76                 :            : bool haveSameStart(Geometry const &edge, const Geometry &other);
      77                 :            : 
      78                 :            : /**
      79                 :            :  * @brief Checks if two edges have same end point.
      80                 :            :  * @param[in] other Other object. Must be IsValid()!
      81                 :            :  * @returns True if this Edge have same end point as another Edge.
      82                 :            :  */
      83                 :            : bool haveSameEnd(Geometry const &edge, const Geometry &other);
      84                 :            : 
      85                 :            : /**
      86                 :            :  * @brief Calculates parametric point on the geometry.
      87                 :            :  * @param[in] t Parameter. 0 will return first point, and 1 last point on the geometry.
      88                 :            :  * @return Parameteric point on the geometry. Can be invalid.
      89                 :            :  */
      90                 :            : point::ECEFPoint getParametricPoint(Geometry const &geometry, const physics::ParametricValue &t);
      91                 :            : 
      92                 :            : /**
      93                 :            :  * @brief Generates sub-geometry for given range.
      94                 :            :  * @param[in] geometry source geometry.
      95                 :            :  * @param[in] trange Specifies parametric range.
      96                 :            :  * @param[out] outputEdge The output edge to be filled with the sub-geometry points
      97                 :            :  * @param[in] revertOrder optional parameter: if set \c true the order of the points in the outputEdge is in reverse
      98                 :            :  * order of the geometry
      99                 :            :  * @return Sub-geometry.
     100                 :            :  */
     101                 :            : void getParametricRange(Geometry const &geometry,
     102                 :            :                         const physics::ParametricRange &trange,
     103                 :            :                         ECEFEdge &outputEdge,
     104                 :            :                         const bool revertOrder = false);
     105                 :            : 
     106                 :            : /**
     107                 :            :  * @brief Generates sub-geometry for given range.
     108                 :            :  * @param[in] geometry source geometry.
     109                 :            :  * @param[in] trange Specifies parametric range.
     110                 :            :  * @param[out] outputEdge The output edge to be filled with the sub-geometry points
     111                 :            :  * @param[in] revertOrder optional parameter: if set \c true the order of the points in the outputEdge is in reverse
     112                 :            :  * order of the geometry
     113                 :            :  * @return Sub-geometry.
     114                 :            :  */
     115                 :            : void getParametricRange(Geometry const &geometry,
     116                 :            :                         const physics::ParametricRange &trange,
     117                 :            :                         GeoEdge &outputEdge,
     118                 :            :                         const bool revertOrder = false);
     119                 :            : 
     120                 :            : /**
     121                 :            :  * @brief Generates sub-geometry for given range.
     122                 :            :  * This overloaded member internally makes use of the getCachedENUEdge() feature of the geometry.
     123                 :            :  *
     124                 :            :  * @param[in] geometry source geometry.
     125                 :            :  * @param[in] trange Specifies parametric range.
     126                 :            :  * @param[out] outputEdge The output edge to be filled with the sub-geometry points
     127                 :            :  * @param[in] revertOrder optional parameter: if set \c true the order of the points in the outputEdge is in reverse
     128                 :            :  * order of the geometry
     129                 :            :  * @return Sub-geometry.
     130                 :            :  */
     131                 :            : void getParametricRange(Geometry const &geometry,
     132                 :            :                         const physics::ParametricRange &trange,
     133                 :            :                         ENUEdge &outputEdge,
     134                 :            :                         const bool revertOrder = false);
     135                 :            : 
     136                 :            : /**
     137                 :            :  * @brief Finds point on geometry nearest to given point.
     138                 :            :  * @param[in] pt Point of interest.
     139                 :            :  * @returns Parametric point on geometry nearest to the pt.
     140                 :            :  *          Can be invalid (if pt is Invalid(), geometry is empty etc.).
     141                 :            :  */
     142                 :            : physics::ParametricValue findNearestPointOnEdge(Geometry const &geometry, const point::ECEFPoint &pt);
     143                 :            : 
     144                 :            : /**
     145                 :            :  * @brief Calculates middle line between two Geometries.
     146                 :            :  * @param[in] geometry A geometry
     147                 :            :  * @param[in] other Another geometry.
     148                 :            :  * @returns Middle line between two Geometry. Contains same number of points as biggest one.
     149                 :            :  */
     150                 :            : ECEFEdge getMiddleEdge(Geometry const &geometry, Geometry const &other);
     151                 :            : 
     152                 :            : } // namespace point
     153                 :            : } // namespace map
     154                 :            : } // namespace ad