obstacle_blocking_analyzer.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 <string>
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/planning/planning_base/common/frame.h"
 
namespace apollo {
namespace planning {
 
bool IsNonmovableObstacle(const ReferenceLineInfo& reference_line_info,
                          const Obstacle& obstacle);
 
bool IsBlockingObstacleToSidePass(const Frame& frame, const Obstacle* obstacle,
                                  double block_obstacle_min_speed,
                                  double min_front_sidepass_distance,
                                  bool enable_obstacle_blocked_check);
 
double GetDistanceBetweenADCAndObstacle(const Frame& frame,
                                        const Obstacle* obstacle);
 
// Check if the obstacle is blocking ADC's driving path (reference_line).
bool IsBlockingDrivingPathObstacle(const ReferenceLine& reference_line,
                                   const Obstacle* obstacle);
 
bool IsParkedVehicle(const ReferenceLine& reference_line,
                     const Obstacle* obstacle);
 
bool IsBlockingObstacleFarFromIntersection(
    const ReferenceLineInfo& reference_line_info,
    const std::string& blocking_obstacle_id);
 
double DistanceBlockingObstacleToIntersection(
    const ReferenceLineInfo& reference_line_info,
    const std::string& blocking_obstacle_id);
 
double DistanceBlockingObstacleToJunction(
    const ReferenceLineInfo& reference_line_info,
    const std::string& blocking_obstacle_id);
 
bool IsBlockingObstacleWithinDestination(
    const ReferenceLineInfo& reference_line_info,
    const std::string& blocking_obstacle_id, const double threshold);
 
}  // namespace planning
}  // namespace apollo