Release 4.0.0

* Support of unstructured scenes/pedestrians
  - Extended `ad::rss::situation::SituationType` by `Unstructured` value
  - Extended `ad::rss::situation::VehicleState` by `ad::rss::world::ObjectType` and `ad::rss::world::ObjectState` members
  - Extended `ad::rss::state::ProperResponse` by `ad::rss::state::UnstructuredSceneResponse` and `ad::rss::state::HeadingRangeVector` members
  - Renamed `ad::rss::world::AccelerationRestriction` -> `ad::rss::state::AccelerationRestriction` and integrated it
    as a member into the `ad::rss::state::ProperResponse`.
  - Reflected this merge of the data types by renaming `ad::rss::core::RssCheck::calculateAccelerationRestriction()`
    to `ad::rss::core::RssCheck::calculateProperResponse()` and adapting the function parameters accordingly.
    Same applies for `ad::rss::core::RssResponseResolving::provideProperResponse()`.
  - Extended `ad::rss::state::RssState` by `ad::rss::situation::SituationType` and `ad::rss::state::UnstructuredSceneRssState` members.
  - Extended `ad::rss::state::RssStateSnapshot` by `ad::rss::state::UnstructuredSceneStateInformation` member
  - Extended `ad::rss::world::ObjectType` by `Pedestrian` value
  - Extended `ad::rss::world::Object` by `::ad::rss::world::ObjectState` member
  - Extended `ad::rss::world::RssDynamics` by `ad::rss::world::UnstructuredSettings` member
  - Extended `ad::rss::map::RssSceneCreation::appendScenes()` parameters by `ad::physics::AngularVelocity` of ego and object
    and provide the mode of operation `ad::rss::map::RssMode` (NotRelevant, Structured, Unstructured)
  - Extended `ad::rss::map::RssSceneCreator` and `ad::rss::map::RssObjectConversion` classes to support unstructured scenes
* Harmonized physics calcualions
  - Removed `ad::rss::situation::CoordinateSystemAxis` type
  - Refactored and extended calculations within Physics.hpp for unstructured cases
  - Made RssFormular.hpp public
* Fixed consideration of maximum speed on accelerating:
  - Renamed `ad::rss::world::RssDynamics::maxSpeed` member to `maxSpeedOnAcceleration` to clarify that it's not the general max speed
    of the vehicle, but the maximum speed to be considered while accelerating within the response time.
  - Fixed the calcualtions to consider the case that the current speed before the acceleration can already be higher than
    the `maxSpeedOnAcceleration` parameter and in this case just no acceleration takes place
* Improved BUILDING documentation

README.md

@@ -12,9 +12,10 @@
 2. [License](#license)
 3. [Documentation](#documentation)
 4. [Releases](#releases)
-   1. [Release 3.x](#release_3)
-   2. [Release 2.x](#release_2)
-   3. [Release 1.x](#release_1)
+   1. [Release 4.x](#release_4)
+   2. [Release 3.x](#release_3)
+   3. [Release 2.x](#release_2)
+   4. [Release 1.x](#release_1)
 5. [Getting Started](#started)
    1. [Supported Systems](#systems)
 6. [Building the library](#building)
@@ -86,6 +87,9 @@ If you have any additional question not answered therein, you might find more in
 ## Releases <a name="releases"></a>
 General release notes and changes can be found in the [Changelog](https://intel.github.io/ad-rss-lib/CHANGELOG/index.html)
 
+#### Release 4.x.x <a name="release_4"></a>
+These releases extends the 3.x version with handling of unstructured roads and pedestrians.
+
 #### Release 3.x.x <a name="release_3"></a>
 These releases improve the 2.x version capabilities on scene creation.
 
@@ -99,12 +103,11 @@ The initial release of the C++ software library for RSS implements a subset of t
 This release implements the RSS calculations and rules corresponding to the following scenarios:
 
 * Multi-lane roads, i.e. longitudinal and lateral safe distance and proper response determination; and
-* Intersections, i.e. two or more routes of different geometry, rules for intersections of routes, with priority/right of way, and longitudinal and lateral proper response determination. However, in the case of intersections, it is assumed that there is always a lateral conflict.
+* Intersections, i.e. two or more routes of different geometry, rules for intersections of routes, with priority/right of way, and longitudinal and lateral proper response determination. However, in the case of intersections, it is assumed that there is always a lateral conflict; and
+* Unstructured roads and pedestrians.
 
 The following parts of RSS are NOT implemented in this release of the library software:
 
-* Unstructured roads, e.g. parking lots and wide round-abouts;
-* Pedestrians, bicyclists and other vulnerable road users;
 * Occlusions;
 * Longitudinal or lateral evasive maneuvers as defined by RSS; and
 * Intersections without a lateral conflict.
@@ -117,7 +120,7 @@ Note: The RSS module in this library does not initiate evasive manuevers. At the
 Currently, the focused operating system is Ubuntu 16.04. Nevertheless, the library should work in a similar way for any other Linux OS.
 To install the dependencies for Ubuntu 16.04 execute the following command:
 ```bash
- user$> sudo apt-get install git build-essential cmake
+ user$> sudo apt-get install git build-essential cmake libboost-dev
 ```
 
 If you want to use doxygen for API documentation, please also install:

RELEASE_NOTES_AND_DISCLAIMERS.md

@@ -4,17 +4,19 @@ __The following additional terms apply to the C++ Library for RSS (the “Softwa
 provided by Intel Corporation (“Intel”) to the recipient (“Recipient”).__
 
 1. The Software implements the RSS calculations and rules corresponding to the following scenarios:
+
    - Multi-lane roads, i.e. longitudinal and lateral safe distance and proper response determination; and
-   - Intersections, i.e. two or more routes of different geometry, rules for intersections of routes, with priority/right of way, and longitudinal and lateral proper response determination. However, in the case of intersections, it is assumed that there is always a lateral conflict.
+   - Intersections, i.e. two or more routes of different geometry, rules for intersections of routes, with priority/right of way, and longitudinal and lateral proper response determination. However, in the case of intersections, it is assumed that there is always a lateral conflict; and
+   - Unstructured roads and pedestrians.
 
    The following parts of RSS are __NOT__ implemented in this release of the Software:
-   - Unstructured roads, e.g. parking lots and wide round-abouts;
-   - Pedestrians, bicyclists and other vulnerable road users;
+
    - Occlusions;
    - Longitudinal or lateral evasive maneuvers as defined by RSS; and
    - Intersections without a lateral conflict.
 
 2. Recipient understands, acknowledges and agrees that the Software:
+
    - is a pre-production, research version intended for use in a testing simulator;
    - should not be considered full, complete, or fully functional;
    - does not contain all features necessary for a production version of the Software;
@@ -24,4 +26,5 @@ provided by Intel Corporation (“Intel”) to the recipient (“Recipient”)._
    - has not obtained any regulatory approvals (such as, UL or FCC), or obtained any certifications or qualifications (such as, AEC-Q100) and may therefore not be certified for use in certain countries or environments.
 
 3. By using the Software, Recipient agrees to the following:
-   - Recipient expressly assumes all risks associated with the use of the Software, which are provided “__AS IS__” by Intel with all faults.
+
+   - Recipient expressly assumes all risks associated with the use of the Software, which are provided “__AS IS__” by Intel with all faults.

ad_rss/generated/CMakeLists.txt

@@ -14,7 +14,7 @@
 ##
 
 cmake_minimum_required(VERSION 3.5)
-project(ad_rss VERSION 3.0.1)
+project(ad_rss VERSION 4.0.0)
 
 include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
@@ -25,24 +25,31 @@ set(CMAKE_CXX_STANDARD 14)
 option(BUILD_SHARED_LIBS "Build shared libraries instead of static ones" ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+set(INCLUDE_DIRS)
+set(LIBRARIES)
+
 include(ad_rss)
 
 if ((NOT ad_rss_SOURCES) OR (NOT ad_rss_INCLUDE_DIRS))
   message(FATAL_ERROR "${PROJECT_NAME}: Variable ad_rss_SOURCES or ad_rss_INCLUDE_DIRS pointing to the generator managed library not set!")
 endif()
 
-find_package(ad_physics 2.0.3 REQUIRED CONFIG)
+find_package(Boost REQUIRED)
+list(APPEND INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
+list(APPEND LIBRARIES ${Boost_LIBRARIES})
+
+find_package(ad_physics 2.1.0 REQUIRED CONFIG)
 find_package(spdlog REQUIRED CONFIG)
 
 add_library(${PROJECT_NAME}
   ${ad_rss_SOURCES}
-  src/ad/rss/situation/CoordinateSystemAxis.cpp
   src/ad/rss/situation/LateralRelativePosition.cpp
   src/ad/rss/situation/LongitudinalRelativePosition.cpp
   src/ad/rss/situation/SituationType.cpp
   src/ad/rss/state/LateralResponse.cpp
   src/ad/rss/state/LongitudinalResponse.cpp
   src/ad/rss/state/RssStateEvaluator.cpp
+  src/ad/rss/state/UnstructuredSceneResponse.cpp
   src/ad/rss/world/LaneDrivingDirection.cpp
   src/ad/rss/world/LaneSegmentType.cpp
   src/ad/rss/world/ObjectType.cpp
@@ -61,12 +68,15 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
   ${ad_rss_TARGET_INCLUDE_DIRECTORIES}
   "$<BUILD_INTERFACE:${ad_rss_INCLUDE_DIRS}>"
+  ${INCLUDE_DIRS}
 )
 
 target_link_libraries(${PROJECT_NAME} PUBLIC
   ad_physics
   spdlog::spdlog
   ${ad_rss_TARGET_LINK_LIBRARIES}
+  PRIVATE
+  ${LIBRARIES}
 )
 
 set(BINDING_TYPE MOCKUP)

ad_rss/generated/cmake/Config.cmake.in

@@ -17,7 +17,11 @@
 
 include(CMakeFindDependencyMacro)
 
-find_dependency(ad_physics 2.0.3)
+find_package(Boost REQUIRED)
+list(APPEND INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
+list(APPEND LIBRARIES ${Boost_LIBRARIES})
+
+find_dependency(ad_physics 2.1.0)
 find_dependency(spdlog)
 
 include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

ad_rss/generated/include/ad/rss/situation/SituationType.hpp

@@ -70,7 +70,12 @@ enum class SituationType : int32_t
   /*!
    * Both drive on individual roads which intersect at the end. Object and ego vehicle have same priority.
    */
-  IntersectionSamePriority = 5
+  IntersectionSamePriority = 5,
+
+  /*!
+   * An unstructured scene constellation.
+   */
+  Unstructured = 6
 };
 
 } // namespace situation

ad_rss/generated/include/ad/rss/situation/SituationTypeValidInputRange.hpp

@@ -40,7 +40,8 @@ inline bool withinValidInputRange(::ad::rss::situation::SituationType const &inp
     || (input == ::ad::rss::situation::SituationType::OppositeDirection)
     || (input == ::ad::rss::situation::SituationType::IntersectionEgoHasPriority)
     || (input == ::ad::rss::situation::SituationType::IntersectionObjectHasPriority)
-    || (input == ::ad::rss::situation::SituationType::IntersectionSamePriority);
+    || (input == ::ad::rss::situation::SituationType::IntersectionSamePriority)
+    || (input == ::ad::rss::situation::SituationType::Unstructured);
   if (!inValidInputRange && logErrors)
   {
     spdlog::error("withinValidInputRange(::ad::rss::situation::SituationType)>> {}, raw value: {} ",

ad_rss/generated/include/ad/rss/situation/VehicleState.hpp

@@ -23,6 +23,8 @@
 #include <sstream>
 #include "ad/physics/Distance.hpp"
 #include "ad/rss/situation/VelocityRange.hpp"
+#include "ad/rss/world/ObjectState.hpp"
+#include "ad/rss/world/ObjectType.hpp"
 #include "ad/rss/world/RssDynamics.hpp"
 /*!
  * @brief namespace ad
@@ -108,7 +110,8 @@ struct VehicleState
     return (velocity == other.velocity) && (dynamics == other.dynamics) && (hasPriority == other.hasPriority)
       && (isInCorrectLane == other.isInCorrectLane)
       && (distanceToEnterIntersection == other.distanceToEnterIntersection)
-      && (distanceToLeaveIntersection == other.distanceToLeaveIntersection);
+      && (distanceToLeaveIntersection == other.distanceToLeaveIntersection) && (objectType == other.objectType)
+      && (objectState == other.objectState);
   }
 
   /**
@@ -153,6 +156,16 @@ struct VehicleState
    * The maximum distance to cover by the vehicle to leave the intersection completely.
    */
   ::ad::physics::Distance distanceToLeaveIntersection{std::numeric_limits<::ad::physics::Distance>::max()};
+
+  /*!
+   * The type of object.
+   */
+  ::ad::rss::world::ObjectType objectType;
+
+  /*!
+   * The state of the object required to perform unstructured scene calculations.
+   */
+  ::ad::rss::world::ObjectState objectState;
 };
 
 } // namespace situation
@@ -206,6 +219,12 @@ inline std::ostream &operator<<(std::ostream &os, VehicleState const &_value)
   os << ",";
   os << "distanceToLeaveIntersection:";
   os << _value.distanceToLeaveIntersection;
+  os << ",";
+  os << "objectType:";
+  os << _value.objectType;
+  os << ",";
+  os << "objectState:";
+  os << _value.objectState;
   os << ")";
   return os;
 }

ad_rss/generated/include/ad/rss/situation/VehicleStateValidInputRange.hpp

@@ -22,6 +22,8 @@
 #include "ad/physics/DistanceValidInputRange.hpp"
 #include "ad/rss/situation/VehicleState.hpp"
 #include "ad/rss/situation/VelocityRangeValidInputRange.hpp"
+#include "ad/rss/world/ObjectStateValidInputRange.hpp"
+#include "ad/rss/world/ObjectTypeValidInputRange.hpp"
 #include "ad/rss/world/RssDynamicsValidInputRange.hpp"
 #include "spdlog/fmt/ostr.h"
 #include "spdlog/spdlog.h"
@@ -45,7 +47,8 @@ inline bool withinValidInputRange(::ad::rss::situation::VehicleState const &inpu
   inValidInputRange = withinValidInputRange(input.velocity, logErrors)
     && withinValidInputRange(input.dynamics, logErrors)
     && withinValidInputRange(input.distanceToEnterIntersection, logErrors)
-    && withinValidInputRange(input.distanceToLeaveIntersection, logErrors);
+    && withinValidInputRange(input.distanceToLeaveIntersection, logErrors)
+    && withinValidInputRange(input.objectType, logErrors) && withinValidInputRange(input.objectState, logErrors);
   if (!inValidInputRange && logErrors)
   {
     spdlog::error("withinValidInputRange(::ad::rss::situation::VehicleState)>> {} has invalid member",