navi_planner.h

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/******************************************************************************
 * Copyright 2018 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 <vector>

#include "modules/common/proto/pnc_point.pb.h"
#include "modules/common/status/status.h"
#include "modules/common/util/factory.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/math/curve1d/quintic_polynomial_curve1d.h"
#include "modules/planning/navi/decider/navi_task.h"
#include "modules/planning/planner/planner.h"
#include "modules/planning/proto/planning.pb.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/reference_line/reference_point.h"

namespace apollo {
namespace planning {

class NaviPlanner : public PlannerWithReferenceLine {
 public:
  NaviPlanner() = delete;
  explicit NaviPlanner(const std::shared_ptr<DependencyInjector>& injector)
      : PlannerWithReferenceLine(injector) {}

  virtual ~NaviPlanner() = default;

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

  common::Status Init(const PlanningConfig& config) override;

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

  void Stop() override {}

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

 private:
  void RegisterTasks();
  std::vector<common::SpeedPoint> GenerateInitSpeedProfile(
      const common::TrajectoryPoint& planning_init_point,
      const ReferenceLineInfo* reference_line_info);

  std::vector<common::SpeedPoint> DummyHotStart(
      const common::TrajectoryPoint& planning_init_point);

  std::vector<common::SpeedPoint> GenerateSpeedHotStart(
      const common::TrajectoryPoint& planning_init_point);

  void GenerateFallbackPathProfile(const ReferenceLineInfo* reference_line_info,
                                   PathData* path_data);

  void GenerateFallbackSpeedProfile(SpeedData* speed_data);

  SpeedData GenerateStopProfile(const double init_speed,
                                const double init_acc) const;

  SpeedData GenerateStopProfileFromPolynomial(const double init_speed,
                                              const double init_acc) const;

  bool IsValidProfile(const QuinticPolynomialCurve1d& curve) const;

  void RecordObstacleDebugInfo(ReferenceLineInfo* reference_line_info);

  void RecordDebugInfo(ReferenceLineInfo* reference_line_info,
                       const std::string& name, const double time_diff_ms);

 private:
  apollo::common::util::Factory<TaskConfig::TaskType, NaviTask> task_factory_;
  std::vector<std::unique_ptr<NaviTask>> tasks_;
};

}  // namespace planning
}  // namespace apollo