text: /******************************************************************************
   * Copyright 2019 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 <functional>
  #include <set>
  #include <string>
  #include <tuple>
  #include <unordered_map>
  #include <vector>
  
  #include "modules/planning/proto/decider_config.pb.h"
  #include "modules/planning/proto/planning_config.pb.h"
  #include "modules/planning/tasks/deciders/decider.h"
  
  namespace apollo {
  namespace planning {
  
  class PathAssessmentDecider : public Decider {
   public:
    explicit PathAssessmentDecider(const TaskConfig& config);
  
   private:
    common::Status Process(Frame* const frame,
        ReferenceLineInfo* const reference_line_info) override;
  
    bool IsValidRegularPath(
        const ReferenceLineInfo& reference_line_info, const PathData& path_data);
  
    bool IsValidFallbackPath(
      const ReferenceLineInfo& reference_line_info, const PathData& path_data);
  
    void SetPathInfo();
  
    bool IsGreatlyOffReferenceLine(const PathData& path_data);
  
    bool IsGreatlyOffRoad(
      const ReferenceLineInfo& reference_line_info, const PathData& path_data);
  
    bool IsCollidingWithStaticObstacles(
      const ReferenceLineInfo& reference_line_info, const PathData& path_data);
  };
  
  }  // namespace planning
  }  // namespace apollo
  