text: // ----------------- BEGIN LICENSE BLOCK ---------------------------------
  //
  // Copyright (c) 2018-2019 Intel Corporation
  //
  // Redistribution and use in source and binary forms, with or without modification,
  // are permitted provided that the following conditions are met:
  //
  // 1. Redistributions of source code must retain the above copyright notice,
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  //
  // 2. Redistributions in binary form must reproduce the above copyright notice,
  //    this list of conditions and the following disclaimer in the documentation
  //    and/or other materials provided with the distribution.
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  // 3. Neither the name of the copyright holder nor the names of its contributors
  //    may be used to endorse or promote products derived from this software without
  //    specific prior written permission.
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  //    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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  //    IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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  //    BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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  // ----------------- END LICENSE BLOCK -----------------------------------
  /**
   * @file
   */
  
  #pragma once
  
  #include "ad_rss/state/ResponseState.hpp"
  #include "ad_rss/world/AccelerationRestriction.hpp"
  #include "ad_rss/world/WorldModel.hpp"
  
  /*!
   * @brief namespace ad_rss
   */
  namespace ad_rss {
  
  /*!
   * @brief namespace core
   */
  namespace core {
  
  /*!
   * @brief namespace RssResponseTransformation
   *
   * Namespace providing functions required to transform the proper response into restrictions
   * of the acceleration for the actuator control.
   */
  namespace RssResponseTransformation {
  
  /*!
   * @brief transformProperResponse
   *
   * Transform the proper response into restrictions of the acceleration for the actuator control.
   *
   * @param [in] worldModel - The current world model information.
   * @param [in] response - The proper overall response to be transformed.
   * @param [out] accelerationRestriction - The restrictions on the vehicle acceleration to become RSS safe.
   *
   * @return return true if the acceleration restrictions could be calculated, false otherwise.
   */
  bool transformProperResponse(world::WorldModel const &worldModel,
                               state::ResponseState const &response,
                               world::AccelerationRestriction &accelerationRestriction);
  
  } // namespace RssResponseTransformation
  } // namespace core
  } // namespace ad_rss
  