trajectory_fallback_task.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 "modules/planning/planning_interface_base/task_base/task.h"
 
namespace apollo {
namespace planning {
 
class TrajectoryFallbackTask : public Task {
 public:
  common::Status Execute(Frame* frame,
                         ReferenceLineInfo* reference_line_info) override;
 
 private:
  virtual void GenerateFallbackPath(Frame* frame,
                                    ReferenceLineInfo* reference_line_info);
 
  virtual SpeedData GenerateFallbackSpeed(const EgoInfo* ego_info,
                                          const double stop_distance = 0.0) = 0;
 
  void GenerateFallbackPathProfile(const ReferenceLineInfo* reference_line_info,
                                   PathData* path_data);
 
  bool RetrieveLastFramePathProfile(
      const ReferenceLineInfo* reference_line_info, const Frame* frame,
      PathData* path_data);
  void AmendSpeedDataForControl(SpeedData* speed_data_ptr);
};
 
}  // namespace planning
}  // namespace apollo