lattice_planner.h

Go to the documentation of this file.

/******************************************************************************
 * 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 "modules/common/status/status.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/planner/planner.h"
#include "modules/planning/proto/planning_config.pb.h"

namespace apollo {
namespace planning {

class LatticePlanner : public PlannerWithReferenceLine {
 public:
  LatticePlanner() = delete;

  explicit LatticePlanner(const std::shared_ptr<DependencyInjector>& injector)
      : PlannerWithReferenceLine(injector) {}

  virtual ~LatticePlanner() = default;

  std::string Name() override { return "LATTICE"; }

  common::Status Init(const PlanningConfig& config) override {
    return common::Status::OK();
  }

  void Stop() override {}

  common::Status Plan(const common::TrajectoryPoint& planning_init_point,
                      Frame* frame,
                      ADCTrajectory* ptr_computed_trajectory) override;

  common::Status PlanOnReferenceLine(
      const common::TrajectoryPoint& planning_init_point, Frame* frame,
      ReferenceLineInfo* reference_line_info) override;
};

}  // namespace planning
}  // namespace apollo