text: // Copyright (c) 2020 fortiss GmbH
  //
  // Authors: Julian Bernhard, Klemens Esterle, Patrick Hart and
  // Tobias Kessler
  //
  // This work is licensed under the terms of the MIT license.
  // For a copy, see <https://opensource.org/licenses/MIT>.
  
  #ifndef BARK_WORLD_EVALUATION_LTL_LABELS_LANE_CHANGE_LABEL_FUNCTION_HPP_
  #define BARK_WORLD_EVALUATION_LTL_LABELS_LANE_CHANGE_LABEL_FUNCTION_HPP_
  
  #include <string>
  #include <vector>
  
  #include "bark/world/evaluation/ltl/label_functions/base_label_function.hpp"
  #include "bark/world/objects/agent.hpp"
  #include "bark/world/objects/object.hpp"
  
  namespace bark {
  namespace world {
  namespace evaluation {
  
  using bark::commons::transformation::FrenetPosition;
  using bark::world::objects::AgentPtr;
  
  class LaneChangeLabelFunction : public BaseLabelFunction {
   public:
    using BaseLabelFunction::BaseLabelFunction;
    LabelMap Evaluate(const world::ObservedWorld& observed_world) const override;
  };
  
  }  // namespace evaluation
  }  // namespace world
  }  // namespace bark
  
  #endif  // BARK_WORLD_EVALUATION_LTL_LABELS_LANE_CHANGE_LABEL_FUNCTION_HPP_
  