extricate_stage.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 <vector>
 
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/common/status/status.h"
#include "modules/planning/planning_interface_base/scenario_base/stage.h"
#include "modules/planning/scenarios/square/context.h"
 
namespace apollo {
namespace planning {
 
class ExtricateStage : public Stage {
public:
    bool Init(
            const StagePipeline& config,
            const std::shared_ptr<DependencyInjector>& injector,
            const std::string& config_dir,
            void* context);
    StageResult Process(const common::TrajectoryPoint& planning_init_point, Frame* frame) override;
    bool HasCollision(Frame* frame, const common::math::Box2d& adc_box);
    bool GenerateStraightReversePath(PathData* path_data, const common::TrajectoryPoint& init_point);
 
private:
    StageResult FinishStage();
    ScenarioSquareConfig scenario_config_;
    bool need_to_stop_ = false;
    int success_path_times_ = 0;
    std::shared_ptr<common::PathPoint> stop_point_ = nullptr;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::ExtricateStage, Stage)
 
}  // namespace planning
}  // namespace apollo