text: /******************************************************************************
   * 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.
   *****************************************************************************/
  
  #pragma once
  
  #include <string>
  
  #include "modules/common/proto/pnc_point.pb.h"
  #include "modules/planning/proto/planning.pb.h"
  #include "modules/planning/proto/planning_config.pb.h"
  
  #include "modules/common/status/status.h"
  #include "modules/common/util/factory.h"
  #include "modules/planning/common/reference_line_info.h"
  #include "modules/planning/math/curve1d/quintic_polynomial_curve1d.h"
  #include "modules/planning/planner/planner.h"
  #include "modules/planning/reference_line/reference_line.h"
  #include "modules/planning/reference_line/reference_point.h"
  #include "modules/planning/tasks/task.h"
  
  /**
   * @namespace apollo::planning
   * @brief apollo::planning
   */
  namespace apollo {
  namespace planning {
  
  /**
   * @class PublicRoadPlanner
   * @brief PublicRoadPlanner is an expectation maximization planner.
   */
  
  class PublicRoadPlanner : public PlannerWithReferenceLine {
   public:
    /**
     * @brief Constructor
     */
    PublicRoadPlanner() = default;
  
    /**
     * @brief Destructor
     */
    virtual ~PublicRoadPlanner() = default;
  
    virtual void Stop() {}
  
    std::string Name() override { return "PUBLIC_ROAD"; }
  
    common::Status Init(const PlanningConfig& config) override;
  
    /**
     * @brief Override function Plan in parent class Planner.
     * @param planning_init_point The trajectory point where planning starts.
     * @param frame Current planning frame.
     * @return OK if planning succeeds; error otherwise.
     */
    apollo::common::Status Plan(
        const common::TrajectoryPoint& planning_init_point,
        Frame* frame,
        ADCTrajectory* ptr_computed_trajectory) override;
  };
  
  }  // namespace planning
  }  // namespace apollo
  