pnc_map_base.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 <list>
#include <memory>
#include <vector>
 
#include "gflags/gflags.h"
 
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/common_msgs/planning_msgs/planning_command.pb.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
 
#include "modules/map/pnc_map/route_segments.h"
 
namespace apollo {
namespace planning {
 
DECLARE_double(look_backward_distance);
DECLARE_double(look_forward_short_distance);
DECLARE_double(look_forward_long_distance);
 
class PncMapBase {
 public:
  virtual ~PncMapBase() = default;
 
  virtual bool CanProcess(const planning::PlanningCommand &command) const = 0;
 
  virtual bool UpdatePlanningCommand(const planning::PlanningCommand &command);
 
  static double LookForwardDistance(const double velocity);
  virtual bool GetRouteSegments(
      const common::VehicleState &vehicle_state,
      std::list<apollo::hdmap::RouteSegments> *const route_segments) = 0;
 
  bool IsNewPlanningCommand(const planning::PlanningCommand &command) const;
 
  static bool IsNewPlanningCommand(
      const planning::PlanningCommand &prev_command,
      const planning::PlanningCommand &new_command);
 
  virtual bool ExtendSegments(
      const apollo::hdmap::RouteSegments &segments, double start_s,
      double end_s,
      apollo::hdmap::RouteSegments *const truncated_segments) const = 0;
 
  virtual std::vector<routing::LaneWaypoint> FutureRouteWaypoints() const = 0;
  virtual void GetEndLaneWayPoint(
      std::shared_ptr<routing::LaneWaypoint> &end_point) const = 0;
  virtual hdmap::LaneInfoConstPtr GetLaneById(const hdmap::Id &id) const = 0;
 
  virtual bool GetNearestPointFromRouting(
      const common::VehicleState &state,
      apollo::hdmap::LaneWaypoint *waypoint) const = 0;
 
  virtual double GetDistanceToDestination() const = 0;
  virtual apollo::hdmap::LaneWaypoint GetAdcWaypoint() const = 0;
 
 protected:
  planning::PlanningCommand last_command_;
  apollo::hdmap::LaneWaypoint adc_waypoint_;
 
 private:
  virtual bool IsValid(const planning::PlanningCommand &command) const = 0;
};
 
}  // namespace planning
}  // namespace apollo