road_graph.h

浏览该文件的文档.

/******************************************************************************
 * 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 <list>
#include <memory>
#include <string>
#include <vector>
 
#include "modules/common/status/status.h"
#include "modules/prediction/common/prediction_map.h"
#include "modules/common_msgs/prediction_msgs/lane_graph.pb.h"
 
namespace apollo {
namespace prediction {
 
class RoadGraph {
 public:
  RoadGraph(const double start_s, const double length,
            const bool consider_divide,
            std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr);
 
  common::Status BuildLaneGraph(LaneGraph* const lane_graph);
 
  common::Status BuildLaneGraphBidirection(LaneGraph* const lane_graph_ptr);
 
  bool IsOnLaneGraph(std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr,
                     const LaneGraph& lane_graph);
 
 private:
  LaneGraph CombineLaneGraphs(const LaneGraph& lane_graph_predecessor,
                              const LaneGraph& lane_graph_successor);
 
  void ConstructLaneSequence(
      const bool search_forward_direction, const double accumulated_s,
      const double curr_lane_seg_s,
      std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr,
      const int graph_search_horizon, const bool consider_lane_split,
      std::list<LaneSegment>* const lane_segments,
      LaneGraph* const lane_graph_ptr) const;
 
  void ConstructLaneSequence(
      const double accumulated_s, const double curr_lane_seg_s,
      std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr,
      const int graph_search_horizon, const bool consider_lane_split,
      std::list<LaneSegment>* const lane_segments,
      LaneGraph* const lane_graph_ptr) const;
 
 private:
  // The s of the obstacle on its own lane_segment.
  double start_s_ = 0;
 
  // The total length to search for lane_graph.
  double length_ = -1.0;
 
  // If we consider all successor lanes after dividing
  bool consider_divide_ = false;
 
  // The lane_info of the lane_segment where the obstacle is on.
  std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr_ = nullptr;
};
 
}  // namespace prediction
}  // namespace apollo