traffic_rule.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 "modules/planning/common/dependency_injector.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/proto/traffic_rule_config.pb.h"

namespace apollo {
namespace planning {

class TrafficRule {
 public:
  explicit TrafficRule(const TrafficRuleConfig& config) : config_(config) {}
  TrafficRule(const TrafficRuleConfig& config,
              const std::shared_ptr<DependencyInjector>& injector)
      : config_(config), injector_(injector) {}
  virtual ~TrafficRule() = default;
  virtual TrafficRuleConfig::RuleId Id() const { return config_.rule_id(); }
  const TrafficRuleConfig& GetConfig() const { return config_; }
  virtual common::Status ApplyRule(
      Frame* const frame, ReferenceLineInfo* const reference_line_info) = 0;

 protected:
  TrafficRuleConfig config_;
  std::shared_ptr<DependencyInjector> injector_;
};

}  // namespace planning
}  // namespace apollo