end_condition_sampler.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 <utility>
#include <vector>

#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/planning/common/speed/st_point.h"
#include "modules/planning/lattice/behavior/feasible_region.h"
#include "modules/planning/lattice/behavior/path_time_graph.h"
#include "modules/planning/lattice/behavior/prediction_querier.h"

namespace apollo {
namespace planning {

struct SamplePoint {
  STPoint path_time_point;
  double ref_v;
};

// Input: planning objective, vehicle kinematic/dynamic constraints,
// Output: sampled ending 1 dimensional states with corresponding time duration.
class EndConditionSampler {
 public:
  EndConditionSampler(
      const std::array<double, 3>& init_s, const std::array<double, 3>& init_d,
      std::shared_ptr<PathTimeGraph> ptr_path_time_graph,
      std::shared_ptr<PredictionQuerier> ptr_prediction_querier);

  virtual ~EndConditionSampler() = default;

  std::vector<std::pair<std::array<double, 3>, double>> SampleLatEndConditions()
      const;

  std::vector<std::pair<std::array<double, 3>, double>>
  SampleLonEndConditionsForCruising(const double ref_cruise_speed) const;

  std::vector<std::pair<std::array<double, 3>, double>>
  SampleLonEndConditionsForStopping(const double ref_stop_point) const;

  std::vector<std::pair<std::array<double, 3>, double>>
  SampleLonEndConditionsForPathTimePoints() const;

 private:
  std::vector<SamplePoint> QueryPathTimeObstacleSamplePoints() const;

  void QueryFollowPathTimePoints(
      const apollo::common::VehicleConfig& vehicle_config,
      const std::string& obstacle_id,
      std::vector<SamplePoint>* sample_points) const;

  void QueryOvertakePathTimePoints(
      const apollo::common::VehicleConfig& vehicle_config,
      const std::string& obstacle_id,
      std::vector<SamplePoint>* sample_points) const;

 private:
  std::array<double, 3> init_s_;
  std::array<double, 3> init_d_;
  FeasibleRegion feasible_region_;
  std::shared_ptr<PathTimeGraph> ptr_path_time_graph_;
  std::shared_ptr<PredictionQuerier> ptr_prediction_querier_;
};

}  // namespace planning
}  // namespace apollo