trajectory_optimizer.h

浏览该文件的文档.

/******************************************************************************
 * 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 "modules/common_msgs/basic_msgs/pnc_point.pb.h"
 
#include "modules/common/status/status.h"
#include "modules/planning/planning_base/common/trajectory/discretized_trajectory.h"
#include "modules/planning/planning_interface_base/task_base/task.h"
 
namespace apollo {
namespace planning {
 
class TrajectoryOptimizer : public Task {
 public:
  virtual ~TrajectoryOptimizer() = default;
 
  apollo::common::Status Execute(Frame *frame) override;
 
 protected:
  virtual apollo::common::Status Process() = 0;
};
 
}  // namespace planning
}  // namespace apollo