navi_task.h

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/******************************************************************************
 * Copyright 2017 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 "modules/planning/planners/navi/proto/planner_config.pb.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"
 
namespace apollo {
namespace planning {
 
class NaviTask {
 public:
  explicit NaviTask(const std::string& name);
  virtual ~NaviTask() = default;
  virtual const std::string& Name() const;
 
  virtual apollo::common::Status Execute(
      Frame* frame, ReferenceLineInfo* reference_line_info);
 
  virtual bool Init(const PlannerNaviConfig& config);
 
 protected:
  bool is_init_ = false;
  Frame* frame_ = nullptr;
  ReferenceLineInfo* reference_line_info_ = nullptr;
 
 private:
  const std::string name_;
};
 
}  // namespace planning
}  // namespace apollo