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.
   *****************************************************************************/
  
  /**
   * @file
   **/
  
  #pragma once
  
  #include <memory>
  
  #include "modules/common/proto/pnc_point.pb.h"
  #include "modules/planning/proto/planning.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/common/speed_profile_generator.h"
  #include "modules/planning/reference_line/reference_line.h"
  #include "modules/planning/reference_line/reference_point.h"
  #include "modules/planning/scenarios/scenario.h"
  #include "modules/planning/scenarios/stage.h"
  #include "modules/planning/tasks/task.h"
  
  namespace apollo {
  namespace planning {
  namespace scenario {
  namespace lane_follow {
  
  class LaneFollowScenario : public Scenario {
   public:
    LaneFollowScenario(const ScenarioConfig& config,
                       const ScenarioContext* context)
        : Scenario(config, context) {}
  
    std::unique_ptr<Stage> CreateStage(
        const ScenarioConfig::StageConfig& stage_config) override;
  
    bool IsTransferable(const Scenario& current_scenario,
                        const Frame& frame) override;
  };
  
  }  // namespace lane_follow
  }  // namespace scenario
  }  // namespace planning
  }  // namespace apollo
  