Migrate PublishableTrajectory to Apollo 1.5.

modules/planning/common/trajectory/BUILD

@@ -27,3 +27,17 @@ cc_library(
         "@eigen//:eigen",
     ],
 )
+
+cc_library(
+    name = "publishable_trajectory",
+    srcs = [
+        "publishable_trajectory.cc",
+    ],
+    hdrs = [
+        "publishable_trajectory.h",
+    ],
+    deps = [
+        ":discretized_trajectory",
+        "//modules/planning/proto:planning_proto",
+    ],
+)

modules/planning/common/trajectory/publishable_trajectory.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 publishable_trajectory.cpp
+ **/
+
+#include "modules/planning/common/trajectory/publishable_trajectory.h"
+
+namespace apollo {
+namespace planning {
+
+using apollo::common::TrajectoryPoint;
+
+TrajectoryPoint PublishableTrajectory::evaluate_absolute_time(
+    const double abs_time) const {
+  return evaluate(abs_time - _header_time);
+}
+
+TrajectoryPoint
+PublishableTrajectory::evaluate_linear_approximation_absolute_time(
+    const double abs_time) const {
+  return evaluate_linear_approximation(abs_time - _header_time);
+}
+
+std::size_t PublishableTrajectory::query_nearest_point_absolute_time(
+    const double abs_time) const {
+  return query_nearest_point(abs_time - _header_time);
+}
+
+double PublishableTrajectory::header_time() const {
+  return _header_time;
+}
+
+void PublishableTrajectory::set_header_time(const double header_time) {
+  _header_time = header_time;
+}
+
+ADCTrajectory PublishableTrajectory::to_trajectory_protobuf() const {
+  ADCTrajectory trajectory_pb;
+  trajectory_pb.mutable_header()->set_timestamp_sec(_header_time);
+  for (const auto& tp : _trajectory_points) {
+    const auto& path_point = tp.path_point();
+    auto* trajectory_point = trajectory_pb.add_adc_trajectory_point();
+    trajectory_point->set_relative_time(tp.relative_time());
+    trajectory_point->set_accumulated_s(path_point.s());
+    trajectory_point->set_speed(tp.v());
+    trajectory_point->set_acceleration_s(tp.a());
+    trajectory_point->set_theta(path_point.theta());
+    trajectory_point->set_curvature(path_point.kappa());
+    trajectory_point->set_curvature_change_rate(path_point.dkappa());
+    trajectory_point->set_x(path_point.x());
+    trajectory_point->set_y(path_point.y());
+    trajectory_point->set_z(0.0);
+  }
+  return trajectory_pb;
+}
+
+} //namespace planning
+} //namespace apollo

modules/planning/common/trajectory/publishable_trajectory.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 publishable_trajectory.h
+ **/
+
+#ifndef MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H
+#define MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H
+
+#include "modules/planning/common/trajectory/discretized_trajectory.h"
+#include "modules/planning/proto/planning.pb.h"
+
+namespace apollo {
+namespace planning {
+
+class PublishableTrajectory : public DiscretizedTrajectory {
+public:
+  virtual ~PublishableTrajectory() = default;
+
+  apollo::common::TrajectoryPoint evaluate_absolute_time(
+      const double abs_time) const;
+
+  apollo::common::TrajectoryPoint evaluate_linear_approximation_absolute_time(
+      const double abs_time) const;
+
+  std::size_t query_nearest_point_absolute_time(const double abs_time) const;
+
+  double header_time() const;
+
+  void set_header_time(const double header_time);
+
+  ADCTrajectory to_trajectory_protobuf() const;
+
+private:
+  double _header_time;
+};
+
+}  // namespace planning
+}  // namespace apollo
+
+#endif  // MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H