model_connections_helpers.cpp

// Copyright 2024 The Autoware Foundation.
//
// 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.

#include "learning_based_vehicle_model/model_connections_helpers.hpp"

std::vector<double> fillVectorUsingMap(
  std::vector<double> vector1, std::vector<double> vector2, std::vector<int> map, bool inverse)
{
  // index in "map" is index in "vector1" and value in "map" is index in "vector2"
  // inverse = 0 from 1 -> 2; inverse = 1 from 2 -> 1
  for (std::size_t idx = 0; idx < map.size(); idx++) {
    if (map[idx] == -1) continue;
    inverse ? vector1[idx] = vector2[map[idx]] : vector2[map[idx]] = vector1[idx];
  }
  return inverse ? vector1 : vector2;
}

std::vector<int> createConnectionsMap(
  std::vector<char *> connection_names_1, std::vector<char *> connection_names_2)
{
  std::vector<int> connection_map;
  // index in "connection_map" is index in "connection_names_2" and value in "connection_map" is
  // index in "connection_names_1"
  for (const auto & name_2 : connection_names_2) {
    int mapped_idx = -1;  // -1 means that we cannot create a connection between some signals
    for (std::size_t NAME_1_IDX = 0; NAME_1_IDX < connection_names_1.size(); NAME_1_IDX++) {
      if (strcmp(name_2, connection_names_1[NAME_1_IDX]) == 0) {  // 0 means strings are the same
                                                                  // and we can create connection
        mapped_idx = NAME_1_IDX;
        break;
      }
    }
    connection_map.push_back(mapped_idx);
  }
  return connection_map;
}