27 #include "modules/common/proto/pnc_point.pb.h" 32 #include "modules/planning/proto/planning.pb.h" 42 namespace lane_follow {
47 const std::shared_ptr<DependencyInjector>& injector);
50 Frame* frame)
override;
53 const common::TrajectoryPoint& planning_start_point,
Frame* frame,
57 const common::TrajectoryPoint& planning_start_point,
Frame* frame,
67 common::SLPoint
GetStopSL(
const ObjectStop& stop_decision,
73 ScenarioConfig config_;
74 std::unique_ptr<Stage> stage_;
StageStatus Process(const common::TrajectoryPoint &planning_init_point, Frame *frame) override
Each stage does its business logic inside Process function. If the stage want to transit to a differe...
common::Status PlanOnReferenceLine(const common::TrajectoryPoint &planning_start_point, Frame *frame, ReferenceLineInfo *reference_line_info)
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
bool RetrieveLastFramePathProfile(const ReferenceLineInfo *reference_line_info, const Frame *frame, PathData *path_data)
Planning module main class. It processes GPS and IMU as input, to generate planning info...
const ScenarioConfig::StageConfig & config() const
Definition: stage.h:52
Frame holds all data for one planning cycle.
Definition: frame.h:61
ReferenceLineInfo holds all data for one reference line.
Definition: reference_line_info.h:54
Definition: path_data.h:36
LaneFollowStage(const ScenarioConfig::StageConfig &config, const std::shared_ptr< DependencyInjector > &injector)
Definition: lane_follow_stage.h:44
StageStatus
Definition: stage.h:40
Defines the Factory class.
void PlanFallbackTrajectory(const common::TrajectoryPoint &planning_start_point, Frame *frame, ReferenceLineInfo *reference_line_info)
Definition: reference_line.h:39
A general class to denote the return status of an API call. It can either be an OK status for success...
Definition: status.h:43
void RecordObstacleDebugInfo(ReferenceLineInfo *reference_line_info)
void GenerateFallbackPathProfile(const ReferenceLineInfo *reference_line_info, PathData *path_data)
common::SLPoint GetStopSL(const ObjectStop &stop_decision, const ReferenceLine &reference_line) const