keep_clear.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 <memory>
#include <string>
 
#include "modules/planning/traffic_rules/keepclear/proto/keepclear.pb.h"
#include "modules/planning/planning_interface_base/traffic_rules_base/traffic_rule.h"
 
namespace apollo {
namespace planning {
 
class KeepClear : public TrafficRule {
 public:
  bool Init(const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
  virtual ~KeepClear() = default;
 
  common::Status ApplyRule(Frame* const frame,
                           ReferenceLineInfo* const reference_line_info);
  void Reset() override {}
 
 private:
  bool IsCreeping(const double pnc_junction_start_s,
                  const double adc_front_edge_s) const;
 
  bool BuildKeepClearObstacle(Frame* const frame,
                              ReferenceLineInfo* const reference_line_info,
                              const std::string& virtual_obstacle_id,
                              const double keep_clear_start_s,
                              const double keep_clear_end_s);
 
 private:
  KeepClearConfig config_;
  static constexpr char const* KEEP_CLEAR_VO_ID_PREFIX = "KC_";
  static constexpr char const* KEEP_CLEAR_JUNCTION_VO_ID_PREFIX = "KC_JC_";
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::KeepClear, TrafficRule)
 
}  // namespace planning
}  // namespace apollo