route_segments.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 <limits>
#include <string>
#include <vector>
 
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common_msgs/routing_msgs/routing.pb.h"
 
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/pnc_map/path.h"
 
namespace apollo {
namespace hdmap {
 
class RouteSegments : public std::vector<LaneSegment> {
 public:
  RouteSegments() = default;
 
  routing::ChangeLaneType NextAction() const;
  void SetNextAction(routing::ChangeLaneType action);
 
  routing::ChangeLaneType PreviousAction() const;
  void SetPreviousAction(routing::ChangeLaneType action);
 
  bool CanExit() const;
  void SetCanExit(bool can_exit);
 
  bool GetProjection(const common::PointENU &point_enu,
                     common::SLPoint *sl_point, LaneWaypoint *waypoint) const;
  bool GetProjection(const common::math::Vec2d &point,
                     common::SLPoint *sl_point, LaneWaypoint *waypoint) const;
  bool GetProjection(const common::math::Vec2d &point, const double heading,
                     common::SLPoint *sl_point, LaneWaypoint *waypoint) const;
 
  bool GetWaypoint(const double s, LaneWaypoint *waypoint) const;
 
  bool CanDriveFrom(const LaneWaypoint &waypoint) const;
 
  /*
   * This is the point that is the end of the original passage in routing.
   * It is used to check if the vehicle is out of current routing.
   * The LaneWaypoint.lane is nullptr if the end of the passage is not on the
   * RouteSegment.
   */
  const LaneWaypoint &RouteEndWaypoint() const;
  void SetRouteEndWaypoint(const LaneWaypoint &waypoint);
 
  bool Stitch(const RouteSegments &other);
 
  bool Shrink(const common::math::Vec2d &point, const double look_backward,
              const double look_forward);
 
  bool Shrink(const double s, const double look_backward,
              const double look_forward);
 
  bool Shrink(const double s, const LaneWaypoint &waypoint,
              const double look_backward, const double look_forward);
 
  bool IsOnSegment() const;
  void SetIsOnSegment(bool on_segment);
 
  bool IsNeighborSegment() const;
  void SetIsNeighborSegment(bool is_neighbor);
 
  void SetId(const std::string &id);
  const std::string &Id() const;
 
  LaneWaypoint FirstWaypoint() const;
 
  LaneWaypoint LastWaypoint() const;
 
  bool IsWaypointOnSegment(const LaneWaypoint &waypoint) const;
 
  bool IsConnectedSegment(const RouteSegments &other) const;
 
  bool StopForDestination() const;
  void SetStopForDestination(bool stop_for_destination);
 
  void SetProperties(const RouteSegments &other);
 
  static bool WithinLaneSegment(const LaneSegment &lane_segment,
                                const LaneWaypoint &waypoint);
 
  static bool WithinLaneSegment(const LaneSegment &lane_segment,
                                const routing::LaneWaypoint &waypoint);
 
  static bool WithinLaneSegment(const routing::LaneSegment &lane_segment,
                                const LaneWaypoint &waypoint);
 
  static bool WithinLaneSegment(const routing::LaneSegment &lane_segment,
                                const routing::LaneWaypoint &waypoint);
 
  static double Length(const RouteSegments &segments);
  std::string DebugString() {
    std::stringstream ss;
    for (auto iter = begin(); iter != end(); ++iter) {
      ss << iter->DebugString() << ";";
    }
    return ss.str();
  }
 
 private:
  LaneWaypoint route_end_waypoint_;
 
  bool can_exit_ = false;
 
  bool is_on_segment_ = false;
 
  bool is_neighbor_ = false;
 
  routing::ChangeLaneType next_action_ = routing::FORWARD;
 
  routing::ChangeLaneType previous_action_ = routing::FORWARD;
 
  std::string id_;
 
  bool stop_for_destination_ = false;
};
 
}  // namespace hdmap
}  // namespace apollo