route_planner.hpp

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// Copyright 2015 TIER IV, Inc. 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.
 
#ifndef BEHAVIOR_TREE_PLUGIN__ROUTE_PLANNER_HPP_
#define BEHAVIOR_TREE_PLUGIN__ROUTE_PLANNER_HPP_
 
#include <deque>
#include <memory>
#include <traffic_simulator/data_type/entity_status.hpp>
#include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
#include <vector>
 
namespace traffic_simulator
{
class RoutePlanner
{
public:
  explicit RoutePlanner(
    const traffic_simulator::RoutingGraphType &, const std::shared_ptr<hdmap_utils::HdMapUtils> &);
 
  auto getWholeRouteLanelets() const -> lanelet::Ids { return whole_lanelet_ids_; }
  auto getRouteLanelets(const CanonicalizedLaneletPose & entity_lanelet_pose, double horizon = 100)
    -> lanelet::Ids;
 
  auto setWaypoints(const std::vector<CanonicalizedLaneletPose> & waypoints) -> void;
 
  auto cancelRoute() -> void;
  auto getGoalPoses() const -> std::vector<CanonicalizedLaneletPose>;
  auto getGoalPosesInWorldFrame() const -> std::vector<geometry_msgs::msg::Pose>;
 
private:
  auto cancelWaypoint(const CanonicalizedLaneletPose & entity_lanelet_pose) -> void;
 
  auto updateRoute(const CanonicalizedLaneletPose & entity_lanelet_pose) -> void;
 
  std::optional<lanelet::Ids> route_;
  std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils_ptr_;
  const traffic_simulator::RoutingGraphType routing_graph_type_;
 
  /*
     What we need is a queue, but we need to be able to iterate over the
     elements for getGoalPoses, so we use std::deque instead of std::queue
     which is not iterable.
  */
  std::deque<traffic_simulator::CanonicalizedLaneletPose> waypoint_queue_;
  lanelet::Ids whole_lanelet_ids_;
};
}  // namespace traffic_simulator
 
#endif  // BEHAVIOR_TREE_PLUGIN__ROUTE_PLANNER_HPP_