obstacle.cc

/******************************************************************************
 * 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 obstacle.cc
 **/

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

#include <sstream>

namespace apollo {
namespace planning {

int Obstacle::Id() const {
  return id_;
}

void Obstacle::SetId(int id) {
  id_ = id;
}

double Obstacle::Height() const {
  return height_;
}

void Obstacle::SetHeight(const double height) {
  height_ = height;
}

double Obstacle::Width() const {
  return width_;
}

void Obstacle::SetWidth(const double width) {
  width_ = width;
}

double Obstacle::Length() const {
  return length_;
}

void Obstacle::SetLength(const double length) {
  length_ = length;
}

double Obstacle::Heading() const {
  return heading_;
}

void Obstacle::SetHeading(const double heading) {
  heading_ = heading;
}

::apollo::common::math::Box2d Obstacle::BoundingBox() const {
  return ::apollo::common::math::Box2d(center_, heading_, length_, width_);
}

const Obstacle::ObstacleType &Obstacle::Type() const {
  return type_;
}

void Obstacle::SetType(const ObstacleType &type) {
  type_ = type;
}

const std::vector<PredictionTrajectory> &
Obstacle::prediction_trajectories() const {
  return prediction_trajectories_;
}

void Obstacle::add_prediction_trajectory(
    const PredictionTrajectory &prediction_trajectory) {
  prediction_trajectories_.push_back(prediction_trajectory);
}

std::vector<PredictionTrajectory> *Obstacle::mutable_prediction_trajectories() {
  return &prediction_trajectories_;
}

}  // namespace planning
}  // namespace apollo