obstacle_clusters.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 <mutex>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>

#include "modules/common/util/util.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/prediction/proto/feature.pb.h"

namespace apollo {
namespace prediction {

class ObstacleClusters {
 public:
  ObstacleClusters() = default;
  void Init();

  LaneGraph GetLaneGraph(
      const double start_s, const double length, const bool consider_lane_split,
      std::shared_ptr<const apollo::hdmap::LaneInfo> lane_info_ptr);

  LaneGraph GetLaneGraphWithoutMemorizing(
      const double start_s, const double length, const bool is_on_lane,
      std::shared_ptr<const apollo::hdmap::LaneInfo> lane_info_ptr);

  bool ForwardNearbyObstacle(const LaneSequence& lane_sequence, const double s,
                             LaneObstacle* const lane_obstacle);

  void AddObstacle(const int obstacle_id, const std::string& lane_id,
                   const double lane_s, const double lane_l);

  void SortObstacles();

  bool ForwardNearbyObstacle(const LaneSequence& lane_sequence,
                             const int obstacle_id, const double obstacle_s,
                             const double obstacle_l,
                             NearbyObstacle* const nearby_obstacle_ptr);

  bool BackwardNearbyObstacle(const LaneSequence& lane_sequence,
                              const int obstacle_id, const double obstacle_s,
                              const double obstacle_l,
                              NearbyObstacle* const nearby_obstacle_ptr);

  StopSign QueryStopSignByLaneId(const std::string& lane_id);

  std::unordered_map<std::string, std::vector<LaneObstacle>>&
  GetLaneObstacles() {
    return lane_obstacles_;
  }

 private:
  std::unordered_map<std::string, std::vector<LaneObstacle>> lane_obstacles_;
  std::unordered_map<std::string, StopSign> lane_id_stop_sign_map_;
};

}  // namespace prediction
}  // namespace apollo