Apollo  6.0
Open source self driving car software
smoother.h
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16 
21 #pragma once
22 
24 #include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
26 #include "modules/planning/proto/decision.pb.h"
27 
28 namespace apollo {
29 namespace planning {
30 
31 class Smoother {
32  public:
33  Smoother() = default;
34  virtual ~Smoother() = default;
35 
36  apollo::common::Status Smooth(const FrameHistory* frame_history,
37  const Frame* current_frame,
38  ADCTrajectory* const current_trajectory_pb);
39 
40  private:
41  bool IsCloseStop(const common::VehicleState& vehicle_state,
42  const MainStop& main_stop);
43 };
44 
45 } // namespace planning
46 } // namespace apollo
apollo::common::Status Smooth(const FrameHistory *frame_history, const Frame *current_frame, ADCTrajectory *const current_trajectory_pb)
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
virtual ~Smoother()=default
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: smoother.h:31
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
Definition: frame.h:250