context.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2019 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 <string>
#include <unordered_map>
#include <utility>
#include <vector>
 
#include "modules/planning/scenarios/stop_sign_unprotected/proto/stop_sign_unprotected.pb.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/planning/planning_interface_base/scenario_base/scenario.h"
 
namespace apollo {
namespace planning {
 
// stage context
struct StopSignUnprotectedContext : public ScenarioContext {
  ScenarioStopSignUnprotectedConfig scenario_config;
  std::string current_stop_sign_overlap_id;
  double stop_start_time = 0.0;
  double creep_start_time = 0.0;
  // watch_vehicle: <lane_id, perception_obstacle_ids>
  std::unordered_map<std::string, std::vector<std::string>> watch_vehicles;
  std::vector<std::pair<hdmap::LaneInfoConstPtr, hdmap::OverlapInfoConstPtr>>
      associated_lanes;
};
 
}  // namespace planning
}  // namespace apollo