planning: renamed PathTimeNeighborhood to PathTimeGraph

modules/planning/lattice/behavior_decider/BUILD

@@ -18,8 +18,8 @@ cc_library(
         "//modules/planning/common:frame",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common/trajectory:discretized_trajectory",
+        "//modules/planning/lattice/behavior_decider:path_time_graph",
         "//modules/planning/lattice/behavior_decider:condition_filter",
-        "//modules/planning/lattice/behavior_decider:path_time_neighborhood",
         "//modules/planning/lattice/behavior_decider:scenario_manager",
         "//modules/planning/proto:lattice_sampling_config_proto",
         "//modules/planning/proto:planning_proto",
@@ -86,12 +86,12 @@ cc_library(
 )
 
 cc_library(
-    name = "path_time_neighborhood",
-    srcs = [
-        "path_time_neighborhood.cc",
-    ],
+    name = "path_time_graph",
     hdrs = [
-        "path_time_neighborhood.h",
+        "path_time_graph.h",
+    ],
+    srcs = [
+        "path_time_graph.cc",
     ],
     deps = [
         "//modules/common",
@@ -117,8 +117,8 @@ cc_library(
     ],
     deps = [
         "//modules/common/math:linear_interpolation",
+        "//modules/planning/lattice/behavior_decider:path_time_graph",
         "//modules/planning/lattice/behavior_decider:feasible_region",
-        "//modules/planning/lattice/behavior_decider:path_time_neighborhood",
         "//modules/planning/proto:lattice_structure_proto",
         "//modules/planning/proto:planning_proto",
     ],

modules/planning/lattice/behavior_decider/behavior_decider.cc

@@ -35,7 +35,7 @@ using apollo::common::PointENU;
 BehaviorDecider::BehaviorDecider() {}
 
 void BehaviorDecider::UpdatePathTimeNeighborhood(
-    std::shared_ptr<PathTimeNeighborhood> p) {
+    std::shared_ptr<PathTimeGraph> p) {
   path_time_neighborhood_ = p;
 }
 

modules/planning/lattice/behavior_decider/behavior_decider.h

@@ -29,7 +29,7 @@
 #include "modules/planning/common/frame.h"
 #include "modules/planning/common/reference_line_info.h"
 #include "modules/planning/common/trajectory/discretized_trajectory.h"
-#include "modules/planning/lattice/behavior_decider/path_time_neighborhood.h"
+#include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 #include "modules/planning/proto/lattice_structure.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 
@@ -40,7 +40,7 @@ class BehaviorDecider {
  public:
   BehaviorDecider();
 
-  void UpdatePathTimeNeighborhood(std::shared_ptr<PathTimeNeighborhood> p);
+  void UpdatePathTimeNeighborhood(std::shared_ptr<PathTimeGraph> p);
 
   virtual ~BehaviorDecider() = default;
 
@@ -51,7 +51,7 @@ class BehaviorDecider {
       const std::vector<common::PathPoint>& discretized_reference_line);
 
  private:
-  std::shared_ptr<PathTimeNeighborhood> path_time_neighborhood_;
+  std::shared_ptr<PathTimeGraph> path_time_neighborhood_;
 };
 
 }  // namespace planning

modules/planning/lattice/behavior_decider/condition_filter.cc

@@ -36,7 +36,7 @@ using PathTimePointPair = std::pair<PathTimePoint, PathTimePoint>;
 
 ConditionFilter::ConditionFilter(
     const std::array<double, 3>& init_s, const double speed_limit,
-    std::shared_ptr<PathTimeNeighborhood> path_time_neighborhood)
+    std::shared_ptr<PathTimeGraph> path_time_neighborhood)
     : feasible_region_(init_s, speed_limit),
       ptr_path_time_neighborhood_(path_time_neighborhood) {}
 

modules/planning/lattice/behavior_decider/condition_filter.h

@@ -29,7 +29,7 @@
 #include <vector>
 
 #include "modules/planning/lattice/behavior_decider/feasible_region.h"
-#include "modules/planning/lattice/behavior_decider/path_time_neighborhood.h"
+#include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 #include "modules/planning/proto/lattice_structure.pb.h"
 #include "modules/planning/proto/planning_internal.pb.h"
 
@@ -39,7 +39,7 @@ namespace planning {
 class ConditionFilter {
  public:
   ConditionFilter(const std::array<double, 3>& init_s, const double speed_limit,
-                  std::shared_ptr<PathTimeNeighborhood> path_time_neighborhood);
+                  std::shared_ptr<PathTimeGraph> path_time_neighborhood);
 
   std::vector<SampleBound> QuerySampleBounds(const double t) const;
 
@@ -68,7 +68,7 @@ class ConditionFilter {
  private:
   FeasibleRegion feasible_region_;
 
-  std::shared_ptr<PathTimeNeighborhood> ptr_path_time_neighborhood_;
+  std::shared_ptr<PathTimeGraph> ptr_path_time_neighborhood_;
 };
 
 }  // namespace planning

modules/planning/lattice/behavior_decider/path_time_neighborhood.cc → modules/planning/lattice/behavior_decider/path_time_graph.cc

@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/behavior_decider/path_time_neighborhood.h"
+#include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 
 #include <algorithm>
 #include <cmath>
@@ -68,7 +68,7 @@ int LastIndexBefore(const prediction::Trajectory& trajectory, const double t) {
 
 }  // namespace
 
-PathTimeNeighborhood::PathTimeNeighborhood(
+PathTimeGraph::PathTimeGraph(
     const std::vector<const Obstacle*>& obstacles, const double ego_s,
     const std::vector<PathPoint>& discretized_ref_points) {
   path_range_.first = ego_s;
@@ -81,7 +81,7 @@ PathTimeNeighborhood::PathTimeNeighborhood(
   SetupObstacles(obstacles, discretized_ref_points);
 }
 
-SLBoundary PathTimeNeighborhood::ComputeObstacleBoundary(
+SLBoundary PathTimeGraph::ComputeObstacleBoundary(
     const Box2d& box,
     const std::vector<PathPoint>& discretized_ref_points) const {
   double start_s(std::numeric_limits<double>::max());
@@ -109,7 +109,7 @@ SLBoundary PathTimeNeighborhood::ComputeObstacleBoundary(
   return sl_boundary;
 }
 
-void PathTimeNeighborhood::SetupObstacles(
+void PathTimeGraph::SetupObstacles(
     const std::vector<const Obstacle*>& obstacles,
     const std::vector<PathPoint>& discretized_ref_points) {
 
@@ -200,7 +200,7 @@ void PathTimeNeighborhood::SetupObstacles(
   }
 }
 
-void PathTimeNeighborhood::SetStaticPathTimeObstacle(
+void PathTimeGraph::SetStaticPathTimeObstacle(
     const Obstacle* obstacle,
     const std::vector<PathPoint>& discretized_ref_points) {
   TrajectoryPoint start_point = obstacle->GetPointAtTime(0.0);
@@ -222,7 +222,7 @@ void PathTimeNeighborhood::SetStaticPathTimeObstacle(
                        FLAGS_trajectory_time_length));
 }
 
-double PathTimeNeighborhood::SpeedAtT(const std::string& obstacle_id,
+double PathTimeGraph::SpeedAtT(const std::string& obstacle_id,
                                       const double s, const double t) const {
   bool found =
       prediction_traj_map_.find(obstacle_id) != prediction_traj_map_.end();
@@ -267,7 +267,7 @@ double PathTimeNeighborhood::SpeedAtT(const std::string& obstacle_id,
   return std::cos(ref_theta) * v_x + std::sin(ref_theta) * v_y;
 }
 
-PathTimePoint PathTimeNeighborhood::SetPathTimePoint(
+PathTimePoint PathTimeGraph::SetPathTimePoint(
     const std::string& obstacle_id, const double s, const double t) const {
   PathTimePoint path_time_point;
   path_time_point.set_s(s);
@@ -278,11 +278,11 @@ PathTimePoint PathTimeNeighborhood::SetPathTimePoint(
 }
 
 const std::vector<PathTimeObstacle>&
-PathTimeNeighborhood::GetPathTimeObstacles() const {
+PathTimeGraph::GetPathTimeObstacles() const {
   return path_time_obstacles_;
 }
 
-bool PathTimeNeighborhood::GetPathTimeObstacle(
+bool PathTimeGraph::GetPathTimeObstacle(
     const std::string& obstacle_id, PathTimeObstacle* path_time_obstacle) {
   if (path_time_obstacle_map_.find(obstacle_id) ==
       path_time_obstacle_map_.end()) {
@@ -293,7 +293,7 @@ bool PathTimeNeighborhood::GetPathTimeObstacle(
 }
 
 std::vector<std::pair<double, double>>
-PathTimeNeighborhood::GetPathBlockingIntervals(const double t) const {
+PathTimeGraph::GetPathBlockingIntervals(const double t) const {
   CHECK(time_range_.first <= t && t <= time_range_.second);
   std::vector<std::pair<double, double>> intervals;
   for (const auto& pt_obstacle : path_time_obstacles_) {
@@ -314,7 +314,7 @@ PathTimeNeighborhood::GetPathBlockingIntervals(const double t) const {
 }
 
 std::vector<std::vector<std::pair<double, double>>>
-PathTimeNeighborhood::GetPathBlockingIntervals(const double t_start,
+PathTimeGraph::GetPathBlockingIntervals(const double t_start,
                                                const double t_end,
                                                const double t_resolution) {
   std::vector<std::vector<std::pair<double, double>>> intervals;
@@ -324,11 +324,11 @@ PathTimeNeighborhood::GetPathBlockingIntervals(const double t_start,
   return intervals;
 }
 
-std::pair<double, double> PathTimeNeighborhood::get_path_range() const {
+std::pair<double, double> PathTimeGraph::get_path_range() const {
   return path_range_;
 }
 
-std::pair<double, double> PathTimeNeighborhood::get_time_range() const {
+std::pair<double, double> PathTimeGraph::get_time_range() const {
   return time_range_;
 }
 

modules/planning/lattice/behavior_decider/path_time_neighborhood.h → modules/planning/lattice/behavior_decider/path_time_graph.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_BEHAVIOR_DECIDER_PATH_TIME_NEIGHBORHOOD_H_
-#define MODULES_PLANNING_LATTICE_BEHAVIOR_DECIDER_PATH_TIME_NEIGHBORHOOD_H_
+#ifndef MODULES_PLANNING_LATTICE_BEHAVIOR_DECIDER_PATH_TIME_GRAPH_H_
+#define MODULES_PLANNING_LATTICE_BEHAVIOR_DECIDER_PATH_TIME_GRAPH_H_
 
 #include <array>
 #include <string>
@@ -37,9 +37,9 @@
 namespace apollo {
 namespace planning {
 
-class PathTimeNeighborhood {
+class PathTimeGraph {
  public:
-  PathTimeNeighborhood(
+  PathTimeGraph(
       const std::vector<const Obstacle*>& obstacles, const double ego_s,
       const std::vector<common::PathPoint>& discretized_ref_points);
 
@@ -61,6 +61,9 @@ class PathTimeNeighborhood {
 
   std::pair<double, double> get_time_range() const;
 
+  std::vector<std::pair<double, double>> GetPathTimeNeighborhoodPoints(
+      const double s_dist, const double t_density) const;
+
  private:
   void SetupObstacles(
       const std::vector<const Obstacle*>& obstacles,
@@ -95,4 +98,4 @@ class PathTimeNeighborhood {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_LATTICE_BEHAVIOR_DECIDER_PATH_TIME_NEIGHBORHOOD_H_
+#endif  // MODULES_PLANNING_LATTICE_BEHAVIOR_DECIDER_PATH_TIME_GRAPH_H_

modules/planning/lattice/trajectory_generator/BUILD

@@ -51,9 +51,9 @@ cc_library(
         "//modules/common",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/constraint_checker:constraint_checker1d",
-        "//modules/planning/lattice/behavior_decider:path_time_neighborhood",
         "//modules/planning/math/curve1d",
         "//modules/planning/proto:lattice_sampling_config_proto",
+        "//modules/planning/lattice/behavior_decider:path_time_graph",
     ],
 )
 

modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc

@@ -39,7 +39,7 @@ TrajectoryEvaluator::TrajectoryEvaluator(
     const std::vector<std::shared_ptr<Trajectory1d>>& lon_trajectories,
     const std::vector<std::shared_ptr<Trajectory1d>>& lat_trajectories,
     bool is_auto_tuning,
-    std::shared_ptr<PathTimeNeighborhood> pathtime_neighborhood)
+    std::shared_ptr<PathTimeGraph> pathtime_neighborhood)
     : is_auto_tuning_(is_auto_tuning),
       pathtime_neighborhood_(pathtime_neighborhood) {
 

modules/planning/lattice/trajectory_generator/trajectory_evaluator.h

@@ -27,7 +27,7 @@
 #include <utility>
 #include <vector>
 
-#include "modules/planning/lattice/behavior_decider/path_time_neighborhood.h"
+#include "../behavior_decider/path_time_graph.h"
 #include "modules/planning/math/curve1d/curve1d.h"
 #include "modules/planning/proto/lattice_structure.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
@@ -53,7 +53,7 @@ class TrajectoryEvaluator {
       const std::vector<std::shared_ptr<Curve1d>>& lon_trajectories,
       const std::vector<std::shared_ptr<Curve1d>>& lat_trajectories,
       bool is_auto_tuning,
-      std::shared_ptr<PathTimeNeighborhood> pathtime_neighborhood);
+      std::shared_ptr<PathTimeGraph> pathtime_neighborhood);
 
   virtual ~TrajectoryEvaluator() = default;
 
@@ -118,7 +118,7 @@ class TrajectoryEvaluator {
 
   bool is_auto_tuning_ = false;
 
-  std::shared_ptr<PathTimeNeighborhood> pathtime_neighborhood_;
+  std::shared_ptr<PathTimeGraph> pathtime_neighborhood_;
 
   std::vector<std::vector<std::pair<double, double>>> path_time_intervals_;
 };

modules/planning/planner/lattice/BUILD

@@ -18,7 +18,7 @@ cc_library(
         "//modules/planning/constraint_checker",
         "//modules/planning/constraint_checker:collision_checker",
         "//modules/planning/lattice/behavior_decider",
-        "//modules/planning/lattice/behavior_decider:path_time_neighborhood",
+        "//modules/planning/lattice/behavior_decider:path_time_graph",
         "//modules/planning/lattice/trajectory_generator:backup_trajectory_generator",
         "//modules/planning/lattice/trajectory_generator:trajectory1d_generator",
         "//modules/planning/lattice/trajectory_generator:trajectory_combiner",

modules/planning/planner/lattice/lattice_planner.cc

@@ -26,6 +26,7 @@
 #include <utility>
 #include <vector>
 
+#include "../../lattice/behavior_decider/path_time_graph.h"
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/macro.h"
@@ -33,7 +34,6 @@
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/constraint_checker/collision_checker.h"
 #include "modules/planning/constraint_checker/constraint_checker.h"
-#include "modules/planning/lattice/behavior_decider/path_time_neighborhood.h"
 #include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h"
 #include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
 #include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
@@ -159,8 +159,8 @@ Status LatticePlanner::PlanOnReferenceLine(
   current_time = Clock::NowInSeconds();
 
   // 4. parse the decision and get the planning target.
-  std::shared_ptr<PathTimeNeighborhood> path_time_neighborhood_ptr(
-      new PathTimeNeighborhood(frame->obstacles(), init_s[0],
+  std::shared_ptr<PathTimeGraph> path_time_neighborhood_ptr(
+      new PathTimeGraph(frame->obstacles(), init_s[0],
                                discretized_reference_line));
 
   decider_.UpdatePathTimeNeighborhood(path_time_neighborhood_ptr);