text: /******************************************************************************
   * Copyright 2018 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 <memory>
  #include <string>
  
  #include "modules/perception/lidar/common/lidar_error_code.h"
  #include "modules/perception/lidar/lib/interface/base_lidar_obstacle_tracking.h"
  #include "modules/perception/lidar/lib/interface/base_classifier.h"
  #include "modules/perception/lidar/lib/interface/base_multi_target_tracker.h"
  
  namespace apollo {
  namespace perception {
  namespace lidar {
  
  class LidarObstacleTracking : public BaseLidarObstacleTracking {
   public:
    LidarObstacleTracking() = default;
    virtual ~LidarObstacleTracking() = default;
  
    bool Init(const LidarObstacleTrackingInitOptions& options =
                  LidarObstacleTrackingInitOptions()) override;
  
    LidarProcessResult Process(const LidarObstacleTrackingOptions& options,
                               LidarFrame* frame) override;
  
    std::string Name() const override { return "LidarObstacleTracking"; }
  
   private:
    std::shared_ptr<BaseMultiTargetTracker> multi_target_tracker_;
    std::shared_ptr<BaseClassifier> fusion_classifier_;
  };  // class LidarObstacleTracking
  
  }  // namespace lidar
  }  // namespace perception
  }  // namespace apollo
  