rerouting.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 <memory>
#include <string>
 
#include "modules/planning/traffic_rules/rerouting/proto/rerouting.pb.h"
 
#include "modules/planning/planning_interface_base/traffic_rules_base/traffic_rule.h"
 
namespace apollo {
namespace planning {
 
class Rerouting : public TrafficRule {
 public:
  bool Init(const std::string& name,
            const std::shared_ptr<DependencyInjector>& injector) override;
  virtual ~Rerouting() = default;
  common::Status ApplyRule(Frame* const frame,
                           ReferenceLineInfo* const reference_line_info);
  void Reset() override {
    reference_line_info_ = nullptr;
    frame_ = nullptr;
  }
 
 private:
  ReroutingConfig config_;
  bool ChangeLaneFailRerouting();
  ReferenceLineInfo* reference_line_info_ = nullptr;
  Frame* frame_ = nullptr;
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::Rerouting, TrafficRule)
 
}  // namespace planning
}  // namespace apollo