lane_way_tool.h

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/******************************************************************************
 * Copyright 2023 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/external_command_msgs/geometry.pb.h"
 
#include "cyber/cyber.h"
#include "modules/map/hdmap/hdmap_common.h"
 
namespace apollo {
namespace hdmap {
class HDMap;
}  // namespace hdmap
namespace routing {
class LaneWaypoint;
}  // namespace routing
namespace localization {
class LocalizationEstimate;
}  // namespace localization
}  // namespace apollo
 
namespace apollo {            // namespace apollo
namespace external_command {  // namespace external_command
 
class MessageReader;
 
class LaneWayTool {
 public:
  explicit LaneWayTool(const std::shared_ptr<cyber::Node> &node);
  bool ConvertToLaneWayPoint(
      const apollo::external_command::Pose &pose,
      apollo::routing::LaneWaypoint *lane_way_point) const;
  bool GetVehicleLaneWayPoint(
      apollo::routing::LaneWaypoint *lane_way_point) const;
  bool GetVehicleLaneWayPoints(
      std::vector<apollo::routing::LaneWaypoint> *lane_way_points) const;
  bool GetParkingLaneWayPoint(
      const std::string &parking_id,
      std::vector<apollo::routing::LaneWaypoint> *lane_way_points) const;
 
  bool IsParkandgoScenario() const;
 
  bool GetPreciseParkingLaneWayPoint(
      hdmap::AreaInfoConstPtr &area_info,
      std::vector<apollo::routing::LaneWaypoint> *lane_way_points) const;
 
 private:
  const hdmap::HDMap *hdmap_;
  MessageReader *message_reader_;
};
 
}  // namespace external_command
}  // namespace apollo