modularization/src1/planning/op_planner/include/op_planner/PlannerH.h

/// \file PlannerH.h
/// \brief Main functions for path generation (global and local)
/// \author Hatem Darweesh
/// \date Dec 14, 2016


#define START_POINT_MAX_DISTANCE 8 // meters
#define GOAL_POINT_MAX_DISTANCE 8 // meters
#define LANE_CHANGE_SMOOTH_FACTOR_DISTANCE 8 // meters

#include "RoadNetwork.h"

namespace PlannerHNS
{

enum PLANDIRECTION {MOVE_FORWARD_ONLY, MOVE_BACKWARD_ONLY,   MOVE_FREE};
enum HeuristicConstrains {EUCLIDEAN, NEIGBORHOOD,DIRECTION };

class PlannerH
{
public:
  PlannerH();
  virtual ~PlannerH();

  void GenerateRunoffTrajectory(const std::vector<std::vector<WayPoint> >& referencePaths, const WayPoint& carPos, const bool& bEnableLaneChange, const double& speed, const double& microPlanDistance,
        const double& maxSpeed,const double& minSpeed, const double&  carTipMargin, const double& rollInMargin,
        const double& rollInSpeedFactor, const double& pathDensity, const double& rollOutDensity,
        const int& rollOutNumber, const double& SmoothDataWeight, const double& SmoothWeight,
        const double& SmoothTolerance, const double& speedProfileFactor, const bool& bHeadingSmooth,
        const int& iCurrGlobalPath, const int& iCurrLocalTraj,
        std::vector<std::vector<std::vector<WayPoint> > >& rollOutsPaths,
        std::vector<WayPoint>& sampledPoints);

  double PlanUsingDP(const WayPoint& carPos,const WayPoint& goalPos,
      const double& maxPlanningDistance, const bool bEnableLaneChange, const std::vector<int>& globalPath,
      RoadNetwork& map, std::vector<std::vector<WayPoint> >& paths, std::vector<WayPoint*>* all_cell_to_delete = 0);

   double PlanUsingDPRandom(const WayPoint& start,
        const double& maxPlanningDistance,
        RoadNetwork& map,
        std::vector<std::vector<WayPoint> >& paths);

  double PredictPlanUsingDP(Lane* lane, const WayPoint& carPos, const double& maxPlanningDistance,
      std::vector<std::vector<WayPoint> >& paths);

  double PredictPlanUsingDP(const WayPoint& startPose, WayPoint* closestWP, const double& maxPlanningDistance, std::vector<std::vector<WayPoint> >& paths, const bool& bFindBranches = true);

  double PredictTrajectoriesUsingDP(const WayPoint& startPose, std::vector<WayPoint*> closestWPs, const double& maxPlanningDistance, std::vector<std::vector<WayPoint> >& paths, const bool& bFindBranches = true, const bool bDirectionBased = false, const bool pathDensity = 1.0);

  void DeleteWaypoints(std::vector<WayPoint*>& wps);
};

}