reference_line_smoother.h

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/******************************************************************************
 * Copyright 2017 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 <vector>
 
#include "modules/planning/planning_base/proto/reference_line_smoother_config.pb.h"
 
#include "modules/planning/planning_base/reference_line/reference_line.h"
 
namespace apollo {
namespace planning {
 
struct AnchorPoint {
  common::PathPoint path_point;
  double lateral_bound = 0.0;
  double longitudinal_bound = 0.0;
  // enforce smoother to strictly follow this reference point
  bool enforced = false;
};
 
class ReferenceLineSmoother {
 public:
  explicit ReferenceLineSmoother(const ReferenceLineSmootherConfig& config)
      : config_(config) {}
 
  virtual void SetAnchorPoints(
      const std::vector<AnchorPoint>& achor_points) = 0;
 
  virtual bool Smooth(const ReferenceLine&, ReferenceLine* const) = 0;
 
  virtual ~ReferenceLineSmoother() = default;
 
 protected:
  ReferenceLineSmootherConfig config_;
};
 
}  // namespace planning
}  // namespace apollo