add map into data center.

modules/planning/common/BUILD

@@ -179,6 +179,7 @@ cc_library(
         ":planning_gflags",
         "//modules/common",
         "//modules/common/status",
+        "//modules/map/hdmap",
         "//modules/planning/state_machine:master_state_machine",
     ],
 )

modules/planning/common/data_center.cc

@@ -36,6 +36,11 @@ DataCenter::DataCenter() {
   _master.reset(new MasterStateMachine());
 
   AINFO << "Data Center is ready!";
+
+  if (map_.load_map_from_file(FLAGS_map_filename)) {
+    AFATAL << "Failed to load map: " << FLAGS_map_filename;
+  }
+  AINFO << "map loaded, Map file: " << FLAGS_map_filename;
 }
 
 Frame *DataCenter::frame(const uint32_t sequence_num) const {
@@ -85,4 +90,3 @@ MasterStateMachine *DataCenter::mutable_master() const {
 
 }  // namespace planning
 }  // namespace apollo
-

modules/planning/common/data_center.h

@@ -27,6 +27,7 @@
 
 #include "modules/common/macro.h"
 #include "modules/common/status/status.h"
+#include "modules/map/hdmap/hdmap.h"
 #include "modules/planning/common/frame.h"
 #include "modules/planning/common/environment.h"
 #include "modules/planning/state_machine/master_state_machine.h"
@@ -42,6 +43,9 @@ class DataCenter {
   apollo::common::Status init_frame(const uint32_t sequence_num);
   Frame *current_frame() const;
   void save_frame();
+  const ::apollo::hdmap::HDMap &map() {
+     return map_;
+  }
 
   Environment *mutable_environment();
   MasterStateMachine *mutable_master() const;
@@ -53,6 +57,8 @@ class DataCenter {
   Environment _environment;
   std::unique_ptr<Frame> _frame = nullptr;
   std::unique_ptr<MasterStateMachine> _master = nullptr;
+  ::apollo::hdmap::HDMap map_;
+
  private:
   DECLARE_SINGLETON(DataCenter);
 };

modules/planning/common/planning_gflags.cc

@@ -20,6 +20,8 @@ DEFINE_int32(planning_loop_rate, 5, "Loop rate for planning node");
 
 DEFINE_string(rtk_trajectory_filename, "modules/planning/data/garage.csv",
               "Loop rate for planning node");
+DEFINE_string(map_filename, "modules/map/data/base_map.txt",
+              "map data file");
 
 DEFINE_uint64(rtk_trajectory_backward, 10,
               "The number of points to be included in RTK trajectory "

modules/planning/common/planning_gflags.h

@@ -22,6 +22,7 @@
 DECLARE_string(planning_config_file);
 DECLARE_int32(planning_loop_rate);
 DECLARE_string(rtk_trajectory_filename);
+DECLARE_string(map_filename);
 DECLARE_uint64(rtk_trajectory_backward);
 DECLARE_uint64(rtk_trajectory_forward);
 DECLARE_double(replanning_threshold);