scenario_manager.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 <memory>
#include <unordered_map>
#include <vector>
 
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/planning/planners/public_road/proto/planner_config.pb.h"
 
namespace apollo {
namespace planning {
 
class DependencyInjector;
class Frame;
}  // namespace planning
}  // namespace apollo
 
namespace apollo {
namespace planning {
 
class Scenario;
 
class ScenarioManager final {
 public:
  bool Init(const std::shared_ptr<DependencyInjector>& injector,
            const PlannerPublicRoadConfig& planner_config);
 
  Scenario* mutable_scenario() { return current_scenario_.get(); }
 
  DependencyInjector* injector() { return injector_.get(); }
 
  void Update(const common::TrajectoryPoint& ego_point, Frame* frame);
 
  void Reset(Frame* frame);
 
 private:
  std::shared_ptr<DependencyInjector> injector_;
  std::shared_ptr<Scenario> current_scenario_;
  std::shared_ptr<Scenario> default_scenario_type_;
  std::vector<std::shared_ptr<Scenario>> scenario_list_;
  bool init_ = false;
};
 
}  // namespace planning
}  // namespace apollo