22 #include "modules/prediction/proto/prediction_obstacle.pb.h" 40 return static_cast<size_t>(t);
46 DecisionData(
const prediction::PredictionObstacles& prediction_obstacles,
51 Obstacle* GetObstacleById(
const std::string&
id);
53 std::unordered_set<std::string> GetObstacleIdByType(
55 const std::vector<Obstacle*>& GetStaticObstacle()
const;
56 const std::vector<Obstacle*>& GetDynamicObstacle()
const;
57 const std::vector<Obstacle*>& GetVirtualObstacle()
const;
58 const std::vector<Obstacle*>& GetPracticalObstacle()
const;
59 const std::vector<Obstacle*>& GetAllObstacle()
const;
64 std::string*
const id);
65 bool CreateVirtualObstacle(
const double point_s,
67 std::string*
const id);
70 bool IsValidTrajectory(
const prediction::Trajectory& trajectory);
71 bool IsValidTrajectoryPoint(
const common::TrajectoryPoint& point);
74 std::string*
const id);
77 std::vector<Obstacle*> static_obstacle_;
78 std::vector<Obstacle*> dynamic_obstacle_;
79 std::vector<Obstacle*> virtual_obstacle_;
80 std::vector<Obstacle*> practical_obstacle_;
81 std::vector<Obstacle*> all_obstacle_;
85 std::list<std::unique_ptr<Obstacle>> obstacles_;
86 std::unordered_map<std::string, Obstacle*> obstacle_map_;
87 std::unordered_map<VirtualObjectType, std::unordered_set<std::string>,
89 virtual_obstacle_id_map_;
91 std::mutex transaction_mutex_;
This is the class that associates an Obstacle with its path properties. An obstacle's path properties...
Definition: obstacle.h:60
VirtualObjectType
Definition: decision_data.h:27
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
Planning module main class. It processes GPS and IMU as input, to generate planning info...
Definition: reference_point.h:32
Rectangular (undirected) bounding box in 2-D.
Definition: box2d.h:52
size_t operator()(T t) const
Definition: decision_data.h:39
Definition: decision_data.h:37
Definition: reference_line.h:39
Definition: decision_data.h:44
The class of Box2d. Here, the x/y axes are respectively Forward/Left, as opposed to what happens in e...