Merge pull request #1467 from tier4/refactor/distance-condition

Refactor/distance condition
tier4 · Dec 4, 2024 · 7eda26e · 7eda26e
2 parents 3dd43ab + 01ef483
commit 7eda26e
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diff --git a/...o/openscenario_interpreter/include/openscenario_interpreter/syntax/distance_condition.hpp b/...o/openscenario_interpreter/include/openscenario_interpreter/syntax/distance_condition.hpp
@@ -112,37 +112,39 @@ struct DistanceCondition : private Scope, private SimulatorCore::ConditionEvalua
 
   auto description() const -> std::string;
 
-  auto distance(const EntityRef &) const -> double;
-
   template <
     CoordinateSystem::value_type, RelativeDistanceType::value_type, RoutingAlgorithm::value_type,
     Boolean::value_type>
-  auto distance(const EntityRef &) const -> double
+  static auto distance(const EntityRef &, const Position &) -> double
   {
     throw SyntaxError(__FILE__, ":", __LINE__);
   }
 
+  static auto evaluate(
+    const Entities *, const Entity &, const Position &, CoordinateSystem, RelativeDistanceType,
+    RoutingAlgorithm, Boolean) -> double;
+
   auto evaluate() -> Object;
 };
 
 // Ignore spell miss due to OpenSCENARIO standard.
 // cspell: ignore euclidian
 
 // clang-format off
-template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true >(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  true >(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  false>(const EntityRef &) const -> double;
-template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  true >(const EntityRef &) const -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  true >(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  false>(const EntityRef &, const Position &) -> double;
+template <> auto DistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  true >(const EntityRef &, const Position &) -> double;
 // clang-format on
 }  // namespace syntax
 }  // namespace openscenario_interpreter