28 #include "modules/planning/proto/planning_config.pb.h" 36 const std::shared_ptr<DependencyInjector> &injector);
53 bool IsValidPathReference(
56 const std::vector<common::PathPoint> &path_reference);
62 void PathBoundToLineSegments(
64 std::vector<std::vector<common::math::LineSegment2d>>
65 *path_bound_segments);
74 void EvaluatePathReference(
76 const std::vector<common::PathPoint> &path_reference,
77 std::vector<common::PathPoint> *evaluated_path_reference);
99 size_t GetRegularPathBound(
100 const std::vector<PathBoundary> &path_bounds)
const;
111 bool IsADCBoxAlongPathReferenceWithinPathBounds(
112 const std::vector<common::TrajectoryPoint> &path_reference,
115 void ConvertTrajectoryToPath(
116 const std::vector<common::TrajectoryPoint> &trajectory,
117 std::vector<common::PathPoint> *path);
119 void RecordDebugInfo(
const std::vector<common::PathPoint> &path_points,
120 const std::string &path_name,
124 static int valid_path_reference_counter_;
125 static int total_path_counter_;
Definition: path_boundary.h:29
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
Planning module main class. It processes GPS and IMU as input, to generate planning info...
Frame holds all data for one planning cycle.
Definition: frame.h:61
Definition: path_reference_decider.h:33
ReferenceLineInfo holds all data for one reference line.
Definition: reference_line_info.h:54
apollo::common::Status Execute(Frame *frame, ReferenceLineInfo *reference_line_info) override
PathReferenceDecider(const TaskConfig &config, const std::shared_ptr< DependencyInjector > &injector)
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