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Planning: init path_reference_decider
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25 changes: 25 additions & 0 deletions
25
modules/planning/tasks/deciders/path_reference_decider/BUILD
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|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| load("//tools:cpplint.bzl", "cpplint") | ||
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| package(default_visibility = ["//visibility:public"]) | ||
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| cc_library( | ||
| name = "path_reference_decider", | ||
| srcs = ["path_reference_decider.cc"], | ||
| hdrs = ["path_reference_decider.h"], | ||
| copts = ["-DMODULE_NAME=\\\"planning\\\""], | ||
| deps = [ | ||
| "//modules/common/configs:vehicle_config_helper", | ||
| "//modules/common/math", | ||
| "//modules/common/status", | ||
| "//modules/map/proto:map_proto", | ||
| "//modules/planning/common:frame", | ||
| "//modules/planning/common:path_decision", | ||
| "//modules/planning/common:planning_gflags", | ||
| "//modules/planning/common:reference_line_info", | ||
| "//modules/planning/proto:planning_config_proto", | ||
| "//modules/planning/proto:planning_proto", | ||
| "//modules/planning/tasks:task", | ||
| ], | ||
| ) | ||
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| cpplint() |
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42
modules/planning/tasks/deciders/path_reference_decider/path_reference_decider.cc
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| /****************************************************************************** | ||
| * Copyright 2020 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. | ||
| *****************************************************************************/ | ||
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| /** | ||
| * @file path_reference_decider.cc | ||
| */ | ||
| #include "modules/planning/tasks/deciders/path_reference_decider/path_reference_decider.h" | ||
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| #include <string> | ||
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| #include "modules/planning/common/planning_context.h" | ||
| #include "modules/planning/proto/planning_config.pb.h" | ||
| #include "modules/planning/tasks/task.h" | ||
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| namespace apollo { | ||
| namespace planning { | ||
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| using apollo::common::Status; | ||
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| PathReferenceDecider::PathReferenceDecider(const TaskConfig &config) | ||
| : Task(config) {} | ||
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| Status PathReferenceDecider::Execute(Frame *frame, | ||
| ReferenceLineInfo *reference_line_info) { | ||
| Task::Execute(frame, reference_line_info); | ||
| return Status::OK(); | ||
| } | ||
| } // namespace planning | ||
| } // namespace apollo |
39 changes: 39 additions & 0 deletions
39
modules/planning/tasks/deciders/path_reference_decider/path_reference_decider.h
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| @@ -0,0 +1,39 @@ | ||
| /****************************************************************************** | ||
| * Copyright 2020 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. | ||
| *****************************************************************************/ | ||
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| /** | ||
| * @file path_reference_decider.h | ||
| **/ | ||
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| #pragma once | ||
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| #include <string> | ||
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| #include "modules/planning/proto/planning_config.pb.h" | ||
| #include "modules/planning/tasks/task.h" | ||
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| namespace apollo { | ||
| namespace planning { | ||
| class PathReferenceDecider : public Task { | ||
| public: | ||
| explicit PathReferenceDecider(const TaskConfig &config); | ||
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| apollo::common::Status Execute( | ||
| Frame *frame, ReferenceLineInfo *reference_line_info) override; | ||
| }; | ||
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| } // namespace planning | ||
| } // namespace apollo |
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