graph_creator.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 <string>
#include <unordered_map>
#include <unordered_set>
 
#include "modules/common_msgs/map_msgs/map.pb.h"
#include "modules/routing/proto/routing_config.pb.h"
#include "modules/routing/proto/topo_graph.pb.h"
 
namespace apollo {
namespace routing {
 
class GraphCreator {
 public:
  GraphCreator(const std::string& base_map_file_path,
               const std::string& dump_topo_file_path,
               const RoutingConfig& routing_conf);
 
  ~GraphCreator() = default;
 
  bool Create();
 
 private:
  void InitForbiddenLanes();
  std::string GetEdgeID(const std::string& from_id, const std::string& to_id);
 
  void AddEdge(
      const Node& from_node,
      const ::google::protobuf::RepeatedPtrField<hdmap::Id>& to_node_vec,
      const Edge::DirectionType& type);
 
  static bool IsValidUTurn(const hdmap::Lane& lane, const double radius);
 
 private:
  std::string base_map_file_path_;
  std::string dump_topo_file_path_;
  hdmap::Map pbmap_;
  Graph graph_;
  std::unordered_map<std::string, int> node_index_map_;
  std::unordered_map<std::string, std::string> road_id_map_;
  std::unordered_set<std::string> showed_edge_id_set_;
  std::unordered_set<std::string> forbidden_lane_id_set_;
 
  const RoutingConfig& routing_conf_;
};
 
}  // namespace routing
}  // namespace apollo