path_generation.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 "modules/common/status/status.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_base/common/path_boundary.h"
#include "modules/planning/planning_interface_base/task_base/common/path_util/path_bounds_decider_util.h"
#include "modules/planning/planning_interface_base/task_base/task.h"
 
namespace apollo {
namespace planning {
 
class PathGeneration : public Task {
 public:
  virtual ~PathGeneration() = default;
 
  apollo::common::Status Execute(
      Frame* frame, ReferenceLineInfo* reference_line_info) override;
 
  apollo::common::Status Execute(Frame* frame) override;
 
 protected:
  virtual apollo::common::Status Process(
      Frame* frame, ReferenceLineInfo* reference_line_info) {
    return apollo::common::Status::OK();
  }
 
  virtual apollo::common::Status Process(Frame* frame) {
    return apollo::common::Status::OK();
  }
 
  void GetStartPointSLState();
 
  void RecordDebugInfo(const PathBound& path_boundaries,
                       const std::string& debug_name,
                       ReferenceLineInfo* const reference_line_info);
 
  void RecordDebugInfo(const PathData& path_data, const std::string& debug_name,
                       ReferenceLineInfo* const reference_line_info);
  bool GetSLBoundary(const PathData& path_data, int point_index,
                     const ReferenceLineInfo* reference_line_info,
                     SLBoundary* const sl_boundary);
 
  SLState init_sl_state_;
  std::vector<SLPolygon> obs_sl_polygons_;
};
 
}  // namespace planning
}  // namespace apollo