iterative_anchoring_smoother.h

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/******************************************************************************
 * Copyright 2019 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.
 *****************************************************************************/
 
/*
 * @file
 */
 
#pragma once
 
#include <utility>
#include <vector>
 
#include "Eigen/Eigen"
 
#include "modules/common_msgs/planning_msgs/planning.pb.h"
#include "modules/planning/planning_open_space/proto/planner_open_space_config.pb.h"
 
#include "modules/common/math/box2d.h"
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/planning_base/common/path/discretized_path.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
#include "modules/planning/planning_base/common/speed/speed_data.h"
#include "modules/planning/planning_base/common/trajectory/discretized_trajectory.h"
#include "modules/planning/planning_base/math/curve1d/quintic_polynomial_curve1d.h"
#include "modules/planning/planning_open_space/utils/open_space_trajectory_optimizer_util.h"
 
namespace apollo {
namespace planning {
class IterativeAnchoringSmoother {
public:
    IterativeAnchoringSmoother(const PlannerOpenSpaceConfig& planner_open_space_config);
 
    ~IterativeAnchoringSmoother() = default;
 
    bool Smooth(
            const Eigen::MatrixXd& xWS,
            const double init_a,
            const double init_v,
            const std::vector<std::vector<common::math::Vec2d>>& obstacles_vertices_vec,
            DiscretizedTrajectory* discretized_trajectory);
 
private:
    void AdjustStartEndHeading(const Eigen::MatrixXd& xWS, std::vector<std::pair<double, double>>* const point2d);
 
    bool ReAnchoring(const std::vector<size_t>& colliding_point_index, DiscretizedPath* path_points);
 
    bool GenerateInitialBounds(const DiscretizedPath& path_points, std::vector<double>* initial_bounds);
 
    bool CheckCollisionAvoidance(const DiscretizedPath& path_points, std::vector<size_t>* colliding_point_index);
 
    void AdjustPathBounds(const std::vector<size_t>& colliding_point_index, std::vector<double>* bounds);
 
    bool SetPathProfile(const std::vector<std::pair<double, double>>& point2d, DiscretizedPath* raw_path_points);
 
    bool CheckGear(const Eigen::MatrixXd& xWS);
 
    bool SmoothSpeed(const double init_a, const double init_v, const double path_length, SpeedData* smoothed_speeds);
 
    bool CombinePathAndSpeed(
            const DiscretizedPath& path_points,
            const SpeedData& speed_points,
            DiscretizedTrajectory* discretized_trajectory);
 
    void AdjustPathAndSpeedByGear(DiscretizedTrajectory* discretized_trajectory);
 
    bool GenerateStopProfileFromPolynomial(
            const double init_acc,
            const double init_speed,
            const double stop_distance,
            SpeedData* smoothed_speeds);
 
    bool IsValidPolynomialProfile(const QuinticPolynomialCurve1d& curve);
 
    // @brief: a helper function on discrete point heading adjustment
    double CalcHeadings(const DiscretizedPath& path_points, const size_t index);
 
private:
    // vehicle_param
    double ego_length_ = 0.0;
    double ego_width_ = 0.0;
    double center_shift_distance_ = 0.0;
 
    std::vector<std::vector<common::math::LineSegment2d>> obstacles_linesegments_vec_;
 
    std::vector<size_t> input_colliding_point_index_;
 
    bool enforce_initial_kappa_ = true;
 
    // gear DRIVE as true and gear REVERSE as false
    bool gear_ = false;
 
    PlannerOpenSpaceConfig planner_open_space_config_;
 
    // park generic
public:
    explicit IterativeAnchoringSmoother(const IterativeAnchoringConfig& iterative_anchoring_config);
 
    std::vector<std::vector<common::math::Vec2d>> box_vec_;
    std::vector<std::vector<std::vector<common::math::Vec2d>>> box_vec_vec_;
 
private:
    IterativeAnchoringConfig iterative_anchoring_config_;
 
    bool SmoothPath(
            const DiscretizedPath& raw_path_points,
            const std::vector<double>& bounds,
            DiscretizedPath* smoothed_path_points,
            std::vector<std::vector<common::math::Vec2d>> point_box = {});
};
}  // namespace planning
}  // namespace apollo