adc_trajectory_container.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 <unordered_set>
#include <vector>

#include "modules/planning/proto/planning.pb.h"
#include "modules/prediction/common/prediction_map.h"
#include "modules/prediction/container/container.h"
#include "modules/prediction/proto/lane_graph.pb.h"

namespace apollo {
namespace prediction {

class ADCTrajectoryContainer : public Container {
 public:
  ADCTrajectoryContainer();

  virtual ~ADCTrajectoryContainer() = default;

  void Insert(const ::google::protobuf::Message& message) override;

  bool IsProtected() const;

  bool IsPointInJunction(const common::PathPoint& point) const;

  bool HasOverlap(const LaneSequence& lane_sequence) const;

  void SetPosition(const common::math::Vec2d& position);

  std::shared_ptr<const hdmap::JunctionInfo> ADCJunction() const;

  double ADCDistanceToJunction() const;

  const planning::ADCTrajectory& adc_trajectory() const;

  bool IsLaneIdInReferenceLine(const std::string& lane_id) const;

  bool IsLaneIdInTargetReferenceLine(const std::string& lane_id) const;

  const std::vector<std::string>& GetADCLaneIDSequence() const;

  const std::vector<std::string>& GetADCTargetLaneIDSequence() const;

  void SetJunction(const std::string& junction_id, const double distance);

 private:
  void SetJunctionPolygon();

  void SetLaneSequence();

  void SetTargetLaneSequence();

  std::string ToString(const std::unordered_set<std::string>& lane_ids);

  std::string ToString(const std::vector<std::string>& lane_ids);

 private:
  planning::ADCTrajectory adc_trajectory_;
  common::math::Polygon2d adc_junction_polygon_;
  std::shared_ptr<const hdmap::JunctionInfo> adc_junction_info_ptr_;
  double s_dist_to_junction_;
  std::unordered_set<std::string> adc_lane_ids_;
  std::vector<std::string> adc_lane_seq_;
  std::unordered_set<std::string> adc_target_lane_ids_;
  std::vector<std::string> adc_target_lane_seq_;
};

}  // namespace prediction
}  // namespace apollo