road_graph.h

Go to the documentation of this file.

/******************************************************************************
 * 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 <list>
#include <memory>
#include <string>
#include <vector>

#include "modules/common/status/status.h"
#include "modules/prediction/common/prediction_map.h"
#include "modules/prediction/proto/lane_graph.pb.h"

namespace apollo {
namespace prediction {

class RoadGraph {
 public:
  RoadGraph(const double start_s, const double length,
            const bool consider_divide,
            std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr);

  common::Status BuildLaneGraph(LaneGraph* const lane_graph);

  common::Status BuildLaneGraphBidirection(LaneGraph* const lane_graph_ptr);

  bool IsOnLaneGraph(std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr,
                     const LaneGraph& lane_graph);

 private:
  LaneGraph CombineLaneGraphs(const LaneGraph& lane_graph_predecessor,
                              const LaneGraph& lane_graph_successor);

  void ConstructLaneSequence(
      const bool search_forward_direction, const double accumulated_s,
      const double curr_lane_seg_s,
      std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr,
      const int graph_search_horizon, const bool consider_lane_split,
      std::list<LaneSegment>* const lane_segments,
      LaneGraph* const lane_graph_ptr) const;

  void ConstructLaneSequence(
      const double accumulated_s, const double curr_lane_seg_s,
      std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr,
      const int graph_search_horizon, const bool consider_lane_split,
      std::list<LaneSegment>* const lane_segments,
      LaneGraph* const lane_graph_ptr) const;

 private:
  // The s of the obstacle on its own lane_segment.
  double start_s_ = 0;

  // The total length to search for lane_graph.
  double length_ = -1.0;

  // If we consider all successor lanes after dividing
  bool consider_divide_ = false;

  // The lane_info of the lane_segment where the obstacle is on.
  std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr_ = nullptr;
};

}  // namespace prediction
}  // namespace apollo