Planning: add path_lane_borrow_decider to change side-pass architecture.

modules/planning/conf/scenario/side_pass_config.pb.txt

 scenario_type: SIDE_PASS
-stage_type: SIDE_PASS_DEFAULT_STAGE
+# stage_type: SIDE_PASS_DEFAULT_STAGE
 stage_type: SIDE_PASS_APPROACH_OBSTACLE
 stage_type: SIDE_PASS_GENERATE_PATH
 stage_type: SIDE_PASS_STOP_ON_WAITPOINT

modules/planning/tasks/deciders/path_bounds_decider.cc

@@ -319,7 +319,7 @@ void PathBoundsDecider::RemoveRedundantPathBoundaries(
   return;
 }
 
-bool PathBoundsDecider::IsContained (
+bool PathBoundsDecider::IsContained(
     const std::vector<std::pair<double, double>>& lhs,
     const std::vector<std::pair<double, double>>& rhs) {
   if (lhs.size() > rhs.size()) { return false; }

modules/planning/tasks/deciders/path_bounds_decider.h

@@ -25,6 +25,7 @@
 #include <string>
 #include <tuple>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include "gtest/gtest.h"
@@ -116,7 +117,7 @@ class PathBoundsDecider : public Decider {
   void RemoveRedundantPathBoundaries(
       std::vector<PathBoundary>* const candidate_path_boundaries);
 
-  bool IsContained (
+  bool IsContained(
       const std::vector<std::pair<double, double>>& lhs,
       const std::vector<std::pair<double, double>>& rhs);
 

modules/planning/tasks/deciders/path_lane_borrow_decider/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "path_lane_borrow_decider",
+    srcs = [
+        "path_lane_borrow_decider.cc",
+    ],
+    hdrs = [
+        "path_lane_borrow_decider.h",
+    ],
+    copts = ["-DMODULE_NAME=\\\"planning\\\""],
+    deps = [
+        "//modules/planning/common:planning_context",
+        "//modules/planning/common:planning_gflags",
+        "//modules/planning/common:reference_line_info",
+        "//modules/planning/tasks/deciders:decider_base",
+    ],
+)
+
+cpplint()

modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.cc

+/******************************************************************************
+ * Copyright 2019 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.
+ *****************************************************************************/
+
+#include "modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h"
+
+namespace apollo {
+namespace planning {
+
+using apollo::common::Status;
+
+PathLaneBorrowDecider::PathLaneBorrowDecider(const TaskConfig& config)
+    : Decider(config) {}
+
+Status PathLaneBorrowDecider::Process(
+    Frame* const frame, ReferenceLineInfo* const reference_line_info) {
+  // Sanity checks.
+  CHECK_NOTNULL(frame);
+  CHECK_NOTNULL(reference_line_info);
+
+  return Status::OK();
+}
+
+}  // namespace planning
+}  // namespace apollo

modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h

+/******************************************************************************
+ * Copyright 2019 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
+ **/
+
+#pragma once
+
+#include "modules/planning/tasks/deciders/decider.h"
+
+namespace apollo {
+namespace planning {
+
+class PathLaneBorrowDecider : public Decider {
+ public:
+  explicit PathLaneBorrowDecider(const TaskConfig& config);
+
+ private:
+  common::Status Process(Frame* frame,
+                         ReferenceLineInfo* reference_line_info) override;
+};
+
+}  // namespace planning
+}  // namespace apollo