base_stage_cruise.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 "modules/planning/planning_interface_base/scenario_base/stage.h"
 
namespace apollo {
namespace hdmap {
class PathOverlap;
}  // namespace hdmap
}  // namespace apollo
 
namespace apollo {
namespace planning {
 
class PlanningContext;
 
class BaseStageCruise : public Stage {
 public:
  bool CheckDone(const Frame& frame, const PlanningContext* context,
                 const bool right_of_way_status);
 
 private:
  virtual hdmap::PathOverlap* GetTrafficSignOverlap(
      const ReferenceLineInfo& reference_line_info,
      const PlanningContext* context) const = 0;
};
 
}  // namespace planning
}  // namespace apollo