piecewise_jerk_speed_optimizer.h

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/******************************************************************************
 * Copyright 2019 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 <utility>
#include <vector>
#include "modules/planning/tasks/piecewise_jerk_speed/proto/piecewise_jerk_speed.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_interface_base/task_base/common/speed_optimizer.h"
 
namespace apollo {
namespace planning {
 
class PiecewiseJerkSpeedOptimizer : public SpeedOptimizer {
 public:
  bool Init(const std::string& config_dir, const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
 
  virtual ~PiecewiseJerkSpeedOptimizer() = default;
 
 private:
  common::Status Process(const PathData& path_data,
                         const common::TrajectoryPoint& init_point,
                         SpeedData* const speed_data) override;
  void AdjustInitStatus(
      const std::vector<std::pair<double, double>> s_dot_bound, double delta_t,
      std::array<double, 3>& init_s);
  PiecewiseJerkSpeedOptimizerConfig config_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(
    apollo::planning::PiecewiseJerkSpeedOptimizer, Task)
 
}  // namespace planning
}  // namespace apollo