barrier_status_tracker.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the License);
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <deque>
#include <map>
#include <string>
#include <vector>
 
#include "cyber/common/macros.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
struct StatusTrackerInitOptions : public BaseInitOptions {};
 
class BarrierStatusTracker{
public:
    BarrierStatusTracker() = default;
    virtual ~BarrierStatusTracker() = default;
 
    bool Init(const StatusTrackerInitOptions& options = StatusTrackerInitOptions());
 
    bool Track(double timestamp, const float open_percent, int& status_id);
 
private:
    double first_timestamp_ = 0.;
    double s_tracking_time_win_;
    double status_change_threshold_;
    double open_threshold_;
    double close_threshold_;
 
    std::deque<std::pair<float, float>> prev_status_;
 
    DISALLOW_COPY_AND_ASSIGN(BarrierStatusTracker);
};
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo