planner.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 <string>

#include "modules/common/proto/pnc_point.pb.h"
#include "modules/common/status/status.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/scenarios/scenario.h"
#include "modules/planning/scenarios/scenario_manager.h"

namespace apollo {
namespace planning {

class Planner {
 public:
  Planner() = delete;

  explicit Planner(const std::shared_ptr<DependencyInjector>& injector)
      : scenario_manager_(injector) {}

  virtual ~Planner() = default;

  virtual std::string Name() = 0;
  virtual apollo::common::Status Init(const PlanningConfig& config) = 0;

  virtual apollo::common::Status Plan(
      const common::TrajectoryPoint& planning_init_point, Frame* frame,
      ADCTrajectory* ptr_computed_trajectory) = 0;

  virtual void Stop() = 0;

 protected:
  PlanningConfig config_;
  scenario::ScenarioManager scenario_manager_;
  scenario::Scenario* scenario_ = nullptr;
};

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

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

  virtual ~PlannerWithReferenceLine() = default;

  virtual apollo::common::Status PlanOnReferenceLine(
      const common::TrajectoryPoint& planning_init_point, Frame* frame,
      ReferenceLineInfo* reference_line_info) {
    CHECK_NOTNULL(frame);
    return apollo::common::Status::OK();
  }
};

}  // namespace planning
}  // namespace apollo