lane_escape_scenario.h

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/******************************************************************************
 * Copyright 2024 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 "modules/planning/scenarios/lane_escape/proto/lane_escape_scenario.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/common/status/status.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_base/common/reference_line_info.h"
#include "modules/planning/planning_base/reference_line/reference_line.h"
#include "modules/planning/planning_interface_base/scenario_base/scenario.h"
#include "modules/planning/park_data_center/park_data_center.h"
 
namespace apollo {
namespace planning {
 
struct LaneEscapeContext : public ScenarioContext {
  ScenarioLaneEscapeConfig scenario_config;
};
 
class LaneEscapeScenario : public Scenario {
 public:
  bool Init(std::shared_ptr<DependencyInjector> injector, const std::string& name) override;
  ScenarioContext* GetContext() override { return &context_; }
 
  bool IsTransferable(const Scenario* other_scenario,
                      const Frame& frame) override;
  
 private:
  LaneEscapeContext context_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::LaneEscapeScenario,
                                     Scenario)
 
}  // namespace planning
}  // namespace apollo