added speed_optimizer

modules/planning/optimizer/BUILD

@@ -42,3 +42,23 @@ cc_library(
         "//modules/planning/optimizer:path_optimizer",
     ],
 )
+
+cc_library(
+    name = "speed_optimizer",
+    srcs = [
+        "speed_optimizer.cc",
+    ],
+    hdrs = [
+        "speed_optimizer.h",
+        "optimizer.h",
+    ],
+    deps = [
+        "@eigen//:eigen",
+        "//modules/common/proto:error_code_proto",
+        "//modules/planning/common:data_center",
+        "//modules/planning/common:decision_data",
+        "//modules/planning/common:planning_data",
+        "//modules/planning/common/path:path_data",
+        "//modules/planning/common/speed:speed_data",
+    ],
+)

modules/planning/optimizer/path_optimizer.h

@@ -18,16 +18,18 @@
  * @file path_optimizer.h
  **/
 
-#ifndef MODULES_PLANNING_OPTIMIZER_PATH_OPTIMIZER_H
-#define MODULES_PLANNING_OPTIMIZER_PATH_OPTIMIZER_H
+#ifndef MODULES_PLANNING_OPTIMIZER_PATH_OPTIMIZER_H_
+#define MODULES_PLANNING_OPTIMIZER_PATH_OPTIMIZER_H_
 
 #include "modules/planning/optimizer/optimizer.h"
 
+#include "modules/common/proto/error_code.pb.h"
+
+#include "modules/planning/common/data_center.h"
+#include "modules/planning/common/decision_data.h"
 #include "modules/planning/common/path/path_data.h"
 #include "modules/planning/common/speed/speed_data.h"
-#include "modules/planning/common/decision_data.h"
 #include "modules/planning/reference_line/reference_line.h"
-#include "modules/planning/common/data_center.h"
 
 namespace apollo {
 namespace planning {
@@ -36,7 +38,7 @@ class PathOptimizer : public Optimizer {
  public:
   explicit PathOptimizer(const std::string &name);
   virtual ~PathOptimizer() = default;
-  virtual ::apollo::common::ErrorCode optimize(
+  virtual apollo::common::ErrorCode optimize(
       const DataCenter &data_center, const SpeedData &speed_data,
       const ReferenceLine &reference_line,
       const ::apollo::planning::TrajectoryPoint &init_point,
@@ -44,6 +46,6 @@ class PathOptimizer : public Optimizer {
 };
 
 }  // namespace planning
-}  // namespace adu
+}  // namespace apollo
 
-#endif  // BAIDU_IDG_HOUSTON_OPTIMIZER_PATH_OPTIMIZER_H
+#endif  // MODULES_PLANNING_OPTIMIZER_PATH_OPTIMIZER_H_

modules/planning/optimizer/speed_optimizer.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 speed_optimizer.cc
+ **/
+
+#include "modules/planning/optimizer/speed_optimizer.h"
+
+#include <string>
+
+namespace apollo {
+namespace planning {
+
+SpeedOptimizer::SpeedOptimizer(const std::string& name) : Optimizer(name) {}
+
+}  // namespace planning
+}  // namespace apollo

modules/planning/optimizer/speed_optimizer.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 speed_optimizer.h
+ **/
+
+#ifndef MODULES_PLANNING_OPTIMIZER_SPEED_OPTIMIZER_H_
+#define MODULES_PLANNING_OPTIMIZER_SPEED_OPTIMIZER_H_
+
+#include "modules/planning/optimizer/optimizer.h"
+
+#include "modules/common/proto/error_code.pb.h"
+
+#include "modules/planning/common/data_center.h"
+#include "modules/planning/common/decision_data.h"
+#include "modules/planning/common/path/path_data.h"
+#include "modules/planning/common/planning_data.h"
+#include "modules/planning/common/speed/speed_data.h"
+
+namespace apollo {
+namespace planning {
+
+class SpeedOptimizer : public Optimizer {
+ public:
+  explicit SpeedOptimizer(const std::string& name);
+  virtual ~SpeedOptimizer() = default;
+  virtual common::ErrorCode optimize(const DataCenter& data_center,
+                                     const PathData& path_data,
+                                     const TrajectoryPoint& init_point,
+                                     DecisionData* const decision_data,
+                                     SpeedData* const speed_data) const = 0;
+};
+
+}  // namespace planning
+}  // namespace apollo
+
+#endif  // MODULES_PLANNING_OPTIMIZER_SPEED_OPTIMIZER_H_