navi_task.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 <string>

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

namespace apollo {
namespace planning {

class NaviTask {
 public:
  explicit NaviTask(const std::string& name);
  virtual ~NaviTask() = default;
  virtual const std::string& Name() const;

  virtual apollo::common::Status Execute(
      Frame* frame, ReferenceLineInfo* reference_line_info);

  virtual bool Init(const PlanningConfig& config);

 protected:
  bool is_init_ = false;
  Frame* frame_ = nullptr;
  ReferenceLineInfo* reference_line_info_ = nullptr;

 private:
  const std::string name_;
};

}  // namespace planning
}  // namespace apollo