speed_optimizer.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 "modules/common/status/status.h"
#include "modules/planning/common/speed/speed_data.h"
#include "modules/planning/common/st_graph_data.h"
#include "modules/planning/tasks/task.h"

namespace apollo {
namespace planning {

class SpeedOptimizer : public Task {
 public:
  explicit SpeedOptimizer(const TaskConfig& config);

  virtual ~SpeedOptimizer() = default;
  common::Status Execute(Frame* frame,
                         ReferenceLineInfo* reference_line_info) override;

 protected:
  virtual common::Status Process(const PathData& path_data,
                                 const common::TrajectoryPoint& init_point,
                                 SpeedData* const speed_data) = 0;

  void RecordDebugInfo(const SpeedData& speed_data);
  void RecordDebugInfo(const SpeedData& speed_data,
                       planning_internal::STGraphDebug* st_graph_debug);
};

}  // namespace planning
}  // namespace apollo