pull_over_path.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 <tuple>
#include <utility>
#include <vector>
#include "modules/planning/tasks/pull_over_path/proto/pull_over_path.pb.h"
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_interface_base/task_base/common/path_generation.h"
 
namespace apollo {
namespace planning {
 
using SLState = std::pair<std::array<double, 3>, std::array<double, 3>>;
 
class PullOverPath : public PathGeneration {
 public:
  bool Init(const std::string& config_dir, const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
 
 private:
  apollo::common::Status Process(
      Frame* frame, ReferenceLineInfo* reference_line_info) override;
 
  bool DecidePathBounds(std::vector<PathBoundary>* boundary);
  bool OptimizePath(const std::vector<PathBoundary>& path_boundaries,
                    std::vector<PathData>* candidate_path_data);
  bool AssessPath(std::vector<PathData>* candidate_path_data,
                  PathData* final_path);
  bool GetBoundaryFromRoads(const ReferenceLineInfo& reference_line_info,
                            PathBoundary* const path_bound);
  void UpdatePullOverBoundaryByLaneBoundary(bool is_pull_over_right,
                                            PathBoundary* const path_bound);
  bool SearchPullOverPosition(
      const PathBound& path_bound,
      std::tuple<double, double, double, int>* const pull_over_configuration);
  bool FindNearestPullOverS(double* pull_over_s);
  bool FindDestinationPullOverS(const PathBound& path_bound,
                                double* pull_over_s);
 
  PullOverPathConfig config_;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::PullOverPath, Task)
}  // namespace planning
}  // namespace apollo