/*
 * Copyright 2018 Autoware Foundation. All rights reserved.
 *
 * 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.
 *
 *
 * v1.0 Yukihiro Saito
 */

#include "car_filter.hpp"

bool CarFilter::filter(
  const autoware_perception_msgs::msg::Shape & shape, const geometry_msgs::msg::Pose & pose)
{
  double x = shape.dimensions.x;
  double y = shape.dimensions.y;
  double s = x * y;
  constexpr double min_width = 1.2;
  constexpr double max_width = 2.2;
  constexpr double max_length = 5.0;

  if (x < min_width && y < min_width) {
    return false;
  }
  if (max_width < x && max_width < y) {
    return false;
  }

  if (max_length < x || max_length < y) {
    return false;
  }

  if (max_length * max_width < s) {
    return false;
  }
  return true;
}
