junction_analyzer.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 <unordered_map>
#include <vector>
 
#include "modules/prediction/common/prediction_map.h"
#include "modules/common_msgs/prediction_msgs/feature.pb.h"
 
namespace apollo {
namespace prediction {
 
class JunctionAnalyzer {
 public:
  void Init(const std::string& junction_id);
 
  void Clear();
 
  const std::string& GetJunctionId();
 
  double ComputeJunctionRange();
 
  const JunctionFeature& GetJunctionFeature(const std::string& start_lane_id);
 
  JunctionFeature GetJunctionFeature(
      const std::vector<std::string>& start_lane_ids);
 
 private:
  void SetAllJunctionExits();
 
  std::vector<JunctionExit> GetJunctionExits(const std::string& start_lane_id);
 
  bool IsExitLane(const std::string& lane_id);
 
 private:
  // junction_info pointer associated to the input junction_id
  std::shared_ptr<const apollo::hdmap::JunctionInfo> junction_info_ptr_;
  // Hashtable: exit_lane_id -> junction_exit
  std::unordered_map<std::string, JunctionExit> junction_exits_;
  // Hashtable: start_lane_id -> junction_feature
  std::unordered_map<std::string, JunctionFeature> junction_features_;
};
 
}  // namespace prediction
}  // namespace apollo