ControlConstraints.h

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#ifndef DW_PLANNING_SAFETYFORCEFIELD_CONTROLCONSTRAINTS_H_
#define DW_PLANNING_SAFETYFORCEFIELD_CONTROLCONSTRAINTS_H_

#include <dw/core/Types.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwSafetyForceFieldControl
{
    float32_t steeringAngle; 
    float32_t acceleration;  
} dwSafetyForceFieldControl;

typedef enum {
    DW_SAFETY_FORCE_FIELD_CONE_TYPE_WHOLE_SPACE       = 0, 
    DW_SAFETY_FORCE_FIELD_CONE_TYPE_HALF_SPACE        = 1, 
    DW_SAFETY_FORCE_FIELD_CONE_TYPE_SECOND_ORDER_CONE = 2, 
    DW_SAFETY_FORCE_FIELD_CONE_TYPE_LINE              = 3, 
    DW_SAFETY_FORCE_FIELD_CONE_TYPE_RAY               = 4, 
    DW_SAFETY_FORCE_FIELD_CONE_TYPE_POINT             = 5  
} dwSafetyForceFieldConeType;

typedef struct dwSafetyForceFieldControlConstraints
{
    dwSafetyForceFieldConeType type;       
    float32_t start;                       
    float32_t end;                         
    dwSafetyForceFieldControl safeControl; 
} dwSafetyForceFieldControlConstraints;

typedef enum {
    DW_SAFETY_FORCE_FIELD_COMBINATION_TYPE_UNION  = 0, 
    DW_SAFETY_FORCE_FIELD_COMBINATION_TYPE_VOTING = 1  
} dwSafetyForceFieldCombinationType;

#define DW_SAFETY_FORCE_FIELD_MAX_NUM_CONSTRAINTS 3

typedef struct dwSafetyForceFieldMultiControlConstraints
{
    dwSafetyForceFieldControlConstraints constraints[DW_SAFETY_FORCE_FIELD_MAX_NUM_CONSTRAINTS]; 
    dwSafetyForceFieldCombinationType combinationType;                                           
} dwSafetyForceFieldMultiControlConstraints;

#ifdef __cplusplus
}
#endif

#endif // DW_PLANNING_SAFETYFORCEFIELD_CONTROLCONSTRAINTS_H_