path_decision.h

/******************************************************************************
 * 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.
 *****************************************************************************/

/**
 * @file
 **/

#ifndef MODULES_PLANNING_COMMON_PATH_DECISION_H_
#define MODULES_PLANNING_COMMON_PATH_DECISION_H_

#include <list>
#include <vector>

#include "modules/planning/proto/decision.pb.h"

#include "modules/planning/common/indexed_list.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/path_obstacle.h"

namespace apollo {
namespace planning {

class PathDecision {
 public:
  PathDecision(const std::vector<const Obstacle *> &obstacles,
               const ReferenceLine &reference_line);

  const IndexedPathObstacles &path_obstacles() const;

  bool AddDecision(const std::string &tag, const std::string &object_id,
                   const ObjectDecisionType &decision);

  PathObstacle *Find(const std::string &object_id);

 private:
  void Init(const std::vector<const Obstacle *> &obstacles);

 private:
  const ReferenceLine &reference_line_;
  IndexedPathObstacles path_obstacles_;
};

}  // namespace planning
}  // namespace apollo

#endif  // MODULES_PLANNING_COMMON_PATH_DECISION_H_