ego_info.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. 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.
 *****************************************************************************/
 
#pragma once
 
#include <vector>
 
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/common_msgs/config_msgs/vehicle_config.pb.h"
#include "modules/common_msgs/routing_msgs/geometry.pb.h"
 
#include "cyber/common/macros.h"
#include "modules/planning/planning_base/common/obstacle.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
#include "modules/planning/planning_base/reference_line/reference_line.h"
#include "modules/planning/planning_base/reference_line/reference_line_provider.h"
 
namespace apollo {
namespace planning {
 
class EgoInfo {
 public:
  EgoInfo();
 
  ~EgoInfo() = default;
 
  bool Update(const common::TrajectoryPoint& start_point,
              const common::VehicleState& vehicle_state);
 
  void Clear();
 
  common::TrajectoryPoint start_point() const { return start_point_; }
 
  common::VehicleState vehicle_state() const { return vehicle_state_; }
 
  double front_clear_distance() const { return front_clear_distance_; }
 
  common::math::Box2d ego_box() const { return ego_box_; }
 
  void CalculateFrontObstacleClearDistance(
      const std::vector<const Obstacle*>& obstacles);
 
  void CalculateCurrentRouteInfo(
      const ReferenceLineProvider* reference_line_provider);
 
 private:
  FRIEND_TEST(EgoInfoTest, EgoInfoSimpleTest);
 
  void set_vehicle_state(const common::VehicleState& vehicle_state) {
    vehicle_state_ = vehicle_state;
  }
 
  void set_start_point(const common::TrajectoryPoint& start_point) {
    start_point_ = start_point;
    const auto& param = ego_vehicle_config_.vehicle_param();
    start_point_.set_a(
        std::fmax(std::fmin(start_point_.a(), param.max_acceleration()),
                  param.max_deceleration()));
  }
 
  void CalculateEgoBox(const common::VehicleState& vehicle_state);
 
  // stitched point (at stitching mode)
  // or real vehicle point (at non-stitching mode)
  common::TrajectoryPoint start_point_;
 
  // ego vehicle state
  common::VehicleState vehicle_state_;
 
  double front_clear_distance_ = FLAGS_default_front_clear_distance;
 
  common::VehicleConfig ego_vehicle_config_;
 
  common::math::Box2d ego_box_;
 
  apollo::hdmap::LaneWaypoint adc_waypoint_;
  double distance_to_destination_ = 0;
};
 
}  // namespace planning
}  // namespace apollo