added planning_data.h/cc; TODO: fixed cyclic dependency in reference_line_decider.

modules/planning/common/BUILD

@@ -107,6 +107,14 @@ cc_library(
     hdrs = [
         "planning_data.h",
     ],
+    deps = [
+        ":decision_data",
+        "//modules/common/proto:path_point_proto",
+        "//modules/planning/common/trajectory:publishable_trajectory",
+        "//modules/planning/reference_line:lib_reference_line",
+        "//modules/map/proto:map_proto",
+        "@eigen//:eigen",
+    ],
 )
 
 cc_library(
@@ -159,7 +167,6 @@ cc_library(
     deps = [
         ":environment",
         ":frame",
-        ":planning_data",
         ":planning_gflags",
         "//modules/common",
         "//modules/common/status",

modules/planning/common/planning_data.cc

@@ -21,5 +21,50 @@
 #include "modules/planning/common/planning_data.h"
 
 namespace apollo {
-namespace planning {}  // namespace planning
+namespace planning {
+
+const ReferenceLine& PlanningData::reference_line() const {
+  return *_reference_line.get();
+}
+
+const DecisionData& PlanningData::decision_data() const {
+  return *_decision_data.get();
+}
+
+const PublishableTrajectory& PlanningData::computed_trajectory() const {
+  return _computed_trajectory;
+}
+
+const TrajectoryPoint& PlanningData::init_planning_point() const {
+  return _init_planning_point;
+}
+
+DecisionData* PlanningData::mutable_decision_data() const {
+  return _decision_data.get();
+}
+
+PublishableTrajectory* PlanningData::mutable_computed_trajectory() {
+  return &_computed_trajectory;
+};
+
+void PlanningData::set_init_planning_point(
+    const TrajectoryPoint& init_planning_point) {
+  _init_planning_point = init_planning_point;
+}
+
+void PlanningData::set_reference_line(
+    std::unique_ptr<ReferenceLine>& reference_line) {
+  _reference_line = std::move(reference_line);
+}
+void PlanningData::set_decision_data(
+    std::unique_ptr<DecisionData>& decision_data) {
+  _decision_data = std::move(decision_data);
+}
+
+void PlanningData::set_computed_trajectory(
+    PublishableTrajectory publishable_trajectory) {
+  _computed_trajectory = std::move(publishable_trajectory);
+}
+
+}  // namespace planning
 }  // namespace apollo

modules/planning/common/planning_data.h

@@ -21,12 +21,39 @@
 #ifndef MODULES_PLANNING_COMMON_PLANNING_DATA_H_
 #define MODULES_PLANNING_COMMON_PLANNING_DATA_H_
 
+#include "modules/common/proto/path_point.pb.h"
+#include "modules/planning/common/decision_data.h"
+#include "modules/planning/common/trajectory/publishable_trajectory.h"
+#include "modules/planning/reference_line/reference_line.h"
+
 namespace apollo {
 namespace planning {
 
 class PlanningData {
  public:
   PlanningData() = default;
+
+  // copy reference line to planning data
+  void set_reference_line(std::unique_ptr<ReferenceLine>& reference_line);
+  void set_decision_data(std::unique_ptr<DecisionData>& decision_data);
+  void set_init_planning_point(const TrajectoryPoint& init_planning_point);
+  void set_computed_trajectory(PublishableTrajectory computed_trajectory);
+
+  const ReferenceLine& reference_line() const;
+  const DecisionData& decision_data() const;
+  const PublishableTrajectory& computed_trajectory() const;
+  const TrajectoryPoint& init_planning_point() const;
+
+  DecisionData* mutable_decision_data() const;
+  PublishableTrajectory* mutable_computed_trajectory();
+
+  virtual std::string type() const = 0;
+
+ protected:
+  std::unique_ptr<ReferenceLine> _reference_line;
+  std::unique_ptr<DecisionData> _decision_data;
+  PublishableTrajectory _computed_trajectory;
+  TrajectoryPoint _init_planning_point;
 };
 
 }  // namespace planning

modules/planning/reference_line/BUILD

@@ -15,7 +15,6 @@ cc_library(
         "//modules/common/proto:path_point_proto",
         "//modules/map/pnc_map:pnc_path",
         "//modules/common/math:math",
-        "//modules/planning/common:data_center",
         "//modules/planning/math:double",
     ],
 )