LaneAssignment.h

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#ifndef DW_WORLDMODEL_LANEASSIGNMENT_H_
#define DW_WORLDMODEL_LANEASSIGNMENT_H_

#include <dw/core/Types.h>
#include <dw/worldmodel/Lane.h>
#include <dw/worldmodel/Obstacle.h>
#include <dw/worldmodel/LaneGraph.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwLaneAssignment
{
    float32_t overlap;     
    dwLaneSegment segment; 
    dwLaneGraphLaneType type;
} dwLaneAssignment;

#define DW_OBSTACLE_LANE_ASSIGNMENT_MAX_COUNT 32

typedef struct dwObstacleLaneAssignment
{
    uint64_t obstacleId;        
    dwTime_t perceptionTime_us; 
    dwTime_t predictionTime_us; 

    uint32_t count; 

    dwLaneAssignment assignments[DW_OBSTACLE_LANE_ASSIGNMENT_MAX_COUNT]; 

    uint32_t dominantIndex; 
} dwObstacleLaneAssignment;

typedef struct dwLaneAssignmentArray
{
    dwObstacleLaneAssignment laneAssignments[DW_OBSTACLE_ARRAY_MAX_COUNT];
    uint32_t count;
} dwLaneAssignmentArray;

// //#######################################################################################
// // Lane Assignment Functions
// //#######################################################################################

DW_API_PUBLIC
dwStatus dwLaneAssignment_getLaneAssignmentOverlapByLaneType(float32_t* laneAssignmentOverlap,
                                                             uint64_t objId,
                                                             const dwLaneAssignmentArray* laneAssignmentArray,
                                                             dwLaneGraphLaneType laneType);

DW_API_PUBLIC
dwStatus dwLaneAssignment_getLaneAssignmentOverlapByLaneId(float32_t* laneAssignmentOverlap,
                                                           uint64_t objId,
                                                           const dwLaneAssignmentArray* laneAssignmentArray,
                                                           uint32_t laneId);

DW_API_PUBLIC
dwStatus dwLaneAssignment_getDominantLaneId(uint32_t* dominantLaneId,
                                            uint64_t objId,
                                            const dwLaneAssignmentArray* laneAssignmentArray);

#ifdef __cplusplus
}
#endif

#endif // DW_WORLDMODEL_LANEASSIGNMENT_H_