base_stage_creep.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 <memory>
#include <string>
 
#include "modules/planning/planning_interface_base/scenario_base/stage.h"
 
namespace apollo {
namespace common {
class Status;
}  // namespace common
}  // namespace apollo
 
namespace apollo {
namespace planning {
 
class Frame;
class ReferenceLineInfo;
class CreepStageConfig;
 
class BaseStageCreep : public Stage {
 public:
  common::Status ProcessCreep(Frame* frame,
                              ReferenceLineInfo* reference_line_info) const;
 
  bool CheckCreepDone(const Frame& frame,
                      const ReferenceLineInfo& reference_line_info,
                      const double stop_sign_overlap_end_s,
                      const double wait_time_sec, const double timeout_sec);
  double GetCreepFinishS(double overlap_end_s, const Frame& frame,
                         const ReferenceLineInfo& reference_line_info) const;
 
 private:
  double GetCreepTargetS(double overlap_end_s, const Frame& frame,
                         const ReferenceLineInfo& reference_line_info) const;
 
  virtual const CreepStageConfig& GetCreepStageConfig() const = 0;
 
  virtual bool GetOverlapStopInfo(Frame* frame,
                                  ReferenceLineInfo* reference_line_info,
                                  double* overlap_end_s,
                                  std::string* overlap_id) const = 0;
 
  static constexpr const char* CREEP_VO_ID_PREFIX_ = "CREEP_";
};
 
}  // namespace planning
}  // namespace apollo