path_data.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 path_data.h
 **/

#ifndef MODULES_PLANNING_COMMON_PATH_PATH_DATA_H_
#define MODULES_PLANNING_COMMON_PATH_PATH_DATA_H_

#include <vector>

#include "modules/planning/common/path/discretized_path.h"
#include "modules/planning/common/path/frenet_frame_path.h"

namespace apollo {
namespace planning {

class PathData {
 public:
  PathData() = default;

  void set_path(const DiscretizedPath& path);

  void set_frenet_path(const FrenetFramePath& frenet_path);

  DiscretizedPath* mutable_path();

  const DiscretizedPath& path() const;

  FrenetFramePath* mutable_frenet_frame_path();

  const FrenetFramePath& frenet_frame_path() const;

  bool get_path_point_with_path_s(const double s,
                                  common::PathPoint* const path_point) const;

  bool get_path_point_with_ref_s(const double ref_s,
                                 common::PathPoint* const path_point) const;

  // TODO(fanhaoyang) add check if the path data is valid
 private:
  DiscretizedPath path_;

  FrenetFramePath frenet_path_;
};

}  // namespace planning
}  // namespace apollo

#endif  // MODULES_PLANNING_COMMON_PATH_PATH_DATA_H_