lane_follow_stage.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 <vector>
 
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common_msgs/planning_msgs/planning.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/common/status/status.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_base/reference_line/reference_point.h"
#include "modules/planning/planning_interface_base/scenario_base/stage.h"
 
namespace apollo {
namespace planning {
 
class LaneFollowStage : public Stage {
 public:
  StageResult Process(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame) override;
 
  StageResult PlanOnReferenceLine(
      const common::TrajectoryPoint& planning_start_point, Frame* frame,
      ReferenceLineInfo* reference_line_info);
 
  void PlanFallbackTrajectory(
      const common::TrajectoryPoint& planning_start_point, Frame* frame,
      ReferenceLineInfo* reference_line_info);
 
  common::SLPoint GetStopSL(const ObjectStop& stop_decision,
                            const ReferenceLine& reference_line) const;
 
  void RecordObstacleDebugInfo(ReferenceLineInfo* reference_line_info);
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::LaneFollowStage, Stage)
 
}  // namespace planning
}  // namespace apollo