path_reference_decider.h

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/******************************************************************************
 * Copyright 2020 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 <vector>
 
#include "modules/planning/planning_base/proto/planning_config.pb.h"
#include "modules/planning/tasks/path_reference_decider/proto/path_reference_decider.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_base/common/path_boundary.h"
#include "modules/planning/planning_interface_base/task_base/task.h"
 
namespace apollo {
namespace planning {
class PathReferenceDecider : public Task {
 public:
  bool Init(const std::string &config_dir, const std::string &name,
            const std::shared_ptr<DependencyInjector> &injector) override;
 
  apollo::common::Status Execute(
      Frame *frame, ReferenceLineInfo *reference_line_info) override;
 
 private:
  apollo::common::Status Process(Frame *frame,
                                 ReferenceLineInfo *reference_line_info);
 
  bool IsValidPathReference(
      const ReferenceLineInfo &reference_line_info,
      const PathBoundary &path_bound,
      const std::vector<common::PathPoint> &path_reference);
 
  void PathBoundToLineSegments(
      const PathBoundary &path_bound,
      std::vector<std::vector<common::math::LineSegment2d>>
          *path_bound_segments);
 
  void EvaluatePathReference(
      const PathBoundary &path_bound,
      const std::vector<common::PathPoint> &path_reference,
      std::vector<common::PathPoint> *evaluated_path_reference);
 
  int IsPointWithinPathBounds(const ReferenceLineInfo &reference_line_info,
                              const PathBoundary &path_bound, const double x,
                              const double y);
 
  size_t GetRegularPathBound(
      const std::vector<PathBoundary> &path_bounds) const;
 
  bool IsADCBoxAlongPathReferenceWithinPathBounds(
      const std::vector<common::TrajectoryPoint> &path_reference,
      const PathBoundary &regular_path_bound);
 
  void ConvertTrajectoryToPath(
      const std::vector<common::TrajectoryPoint> &trajectory,
      std::vector<common::PathPoint> *path);
 
  void RecordDebugInfo(const std::vector<common::PathPoint> &path_points,
                       const std::string &path_name,
                       ReferenceLineInfo *const reference_line_info);
 
 private:
  static int valid_path_reference_counter_;  // count valid path reference
  static int total_path_counter_;            // count total path
  PathReferenceDeciderConfig config_;        // the config the task
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::PathReferenceDecider,
                                     Task)
 
}  // namespace planning
}  // namespace apollo