autotuning_speed_feature_builder.h

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/******************************************************************************
 * Copyright 2017 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 "modules/planning/planning_base/learning_based/tuning/autotuning_feature_builder.h"
 
namespace apollo {
namespace planning {
 
class AutotuningSpeedFeatureBuilder : public AutotuningFeatureBuilder {
 public:
  AutotuningSpeedFeatureBuilder() = default;
  virtual ~AutotuningSpeedFeatureBuilder() = default;
  common::Status BuildFeature(
      const autotuning::TrajectoryRawFeature& raw_feature,
      autotuning::TrajectoryFeature* const input_feature) const override;
 
  common::Status BuildPointFeature(
      const autotuning::TrajectoryPointRawFeature& raw_point_feature,
      autotuning::TrajectoryPointwiseFeature* const point_feature)
      const override;
 
 private:
  void map_obstacle_feature(
      const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
          obj_raw_feature,
      autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
      const;
 
  void map_nudge_obs_feature(
      const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
          obj_raw_feature,
      autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
      const;
 
  void map_sidepass_obs_feature(
      const autotuning::SpeedPointRawFeature_ObjectDecisionFeature&
          obj_raw_feature,
      autotuning::SpeedPointwiseFeature_ObstacleFeature* const input_feature)
      const;
};
 
}  // namespace planning
}  // namespace apollo