navi_speed_ts_graph.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 <limits>
#include <vector>
 
#include "modules/common/status/status.h"
 
namespace apollo {
namespace planning {
 
struct NaviSpeedTsConstraints {
  // The minimum timestamp of the point.
  double t_min = 0.0;
  // The maximum speed of the point.
  double v_max = std::numeric_limits<double>::max();
  // The preferred speed of the point.
  double v_preffered = std::numeric_limits<double>::max();
  // The maximum acceleration of the point.
  double a_max = std::numeric_limits<double>::max();
  // The preferred acceleration of the point.
  double a_preffered = std::numeric_limits<double>::max();
  // The maximum deceleration of the point.
  double b_max = std::numeric_limits<double>::max();
  // The preferred deceleration of the point.
  double b_preffered = std::numeric_limits<double>::max();
  // TODO(all): ignore
  double da_max = std::numeric_limits<double>::max();
  // TODO(all): ignore
  double da_preffered = std::numeric_limits<double>::max();
};
 
struct NaviSpeedTsPoint {
  double s;
  double t;
  double v;
  double a;
  double da;
};
 
class NaviSpeedTsGraph {
 public:
  NaviSpeedTsGraph();
 
  void Reset(double s_step, double s_max, double start_v, double start_a,
             double start_da);
 
  void UpdateConstraints(const NaviSpeedTsConstraints& constraints);
 
  void UpdateRangeConstraints(double start_s, double end_s,
                              const NaviSpeedTsConstraints& constraints);
 
  void UpdateObstacleConstraints(double distance, double safe_distance,
                                 double following_accel_ratio, double v,
                                 double cruise_speed);
 
  apollo::common::Status Solve(std::vector<NaviSpeedTsPoint>* points);
 
 private:
  std::vector<NaviSpeedTsConstraints> constraints_;
  double s_step_;
  double start_v_;
  double start_a_;
  double start_da_;
};
 
}  // namespace planning
}  // namespace apollo