lane_change_util.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.
 *****************************************************************************/
 
#include <limits>
 
namespace apollo {
namespace planning {
 
class ReferenceLineInfo;
class Frame;
class PlanningContext;
 
bool IsClearToChangeLane(ReferenceLineInfo* reference_line_info);
 
bool IsPerceptionBlocked(const ReferenceLineInfo& reference_line_info,
                         const double search_beam_length,
                         const double search_beam_radius_intensity,
                         const double search_range,
                         const double is_block_angle_threshold);
 
void UpdatePreparationDistance(
    const bool is_opt_succeed, const Frame* frame,
    const ReferenceLineInfo* const reference_line_info,
    PlanningContext* planning_context);
 
bool HysteresisFilter(const double obstacle_distance,
                      const double safe_distance, const double distance_buffer,
                      const bool is_obstacle_blocking);
 
}  // namespace planning
}  // namespace apollo