From e19f18d54738ed4f8a1451a63cd9d7ca14a7f49b Mon Sep 17 00:00:00 2001
From: JasonZhou404 <zhoujiny404@gmail.com>
Date: Fri, 1 Mar 2019 11:20:42 -0800
Subject: [PATCH] Planning: open_space: init trajectory partition

---
 .../open_space_trajectory_partition.h         | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/modules/planning/tasks/optimizers/open_space_trajectory_partition/open_space_trajectory_partition.h b/modules/planning/tasks/optimizers/open_space_trajectory_partition/open_space_trajectory_partition.h
index 96bf460e32..d500466aac 100644
--- a/modules/planning/tasks/optimizers/open_space_trajectory_partition/open_space_trajectory_partition.h
+++ b/modules/planning/tasks/optimizers/open_space_trajectory_partition/open_space_trajectory_partition.h
@@ -30,11 +30,31 @@ namespace planning {
 class OpenSpaceTrajectoryPartition : public TrajectoryOptimizer {
  public:
   explicit OpenSpaceTrajectoryPartition(const TaskConfig& config);
+
   ~OpenSpaceTrajectoryPartition() = default;
 
+  void Restart();
+
  private:
   apollo::common::Status Process(
       DiscretizedTrajectory* const trajectory_data) override;
+
+ private:
+  void InterpolateTrajectory(DiscretizedTrajectory* const trajectory,
+                             DiscretizedTrajectory* interpolated_trajectory);
+
+  bool InsertGearShiftTrajectory(
+      const bool& flag_change_to_next, const size_t& current_trajectory_index,
+      const std::vector<apollo::canbus::Chassis::GearPosition>& gear_positions);
+
+  void GenerateGearShiftTrajectory(
+      const apollo::canbus::Chassis::GearPosition& gear_position);
+
+  void SetTrajectoryPb(
+      const apollo::planning_internal::Trajectories& trajectory_partitioned,
+      const std::vector<apollo::canbus::Chassis::GearPosition>& gear_positions,
+      const size_t& current_trajectory_index,
+      const int& closest_trajectory_point_index);
 };
 }  // namespace planning
 }  // namespace apollo
-- 
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