rtk_replay_planner.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 <memory>
#include <string>
#include <vector>

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

namespace apollo {
namespace planning {

class RTKReplayPlanner : public PlannerWithReferenceLine {
 public:
  explicit RTKReplayPlanner(
      const std::shared_ptr<DependencyInjector>& injector);

  virtual ~RTKReplayPlanner() = default;

  std::string Name() override { return "RTK"; }

  apollo::common::Status Init(const PlanningConfig& config) override;

  void Stop() override {}

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

  apollo::common::Status PlanOnReferenceLine(
      const common::TrajectoryPoint& planning_init_point, Frame* frame,
      ReferenceLineInfo* reference_line_info) override;
  void ReadTrajectoryFile(const std::string& filename);

 private:
  std::uint32_t QueryPositionMatchedPoint(
      const common::TrajectoryPoint& start_point,
      const std::vector<common::TrajectoryPoint>& trajectory) const;

  std::vector<common::TrajectoryPoint> complete_rtk_trajectory_;
};

}  // namespace planning
}  // namespace apollo