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.
   *****************************************************************************/
  
  #include <memory>
  #include <vector>
  
  #include "modules/prediction/container/obstacles/obstacles_container.h"
  #include "modules/prediction/scenario/scenario_features/cruise_scenario_features.h"
  #include "modules/prediction/scenario/scenario_features/scenario_features.h"
  
  namespace apollo {
  namespace prediction {
  
  class ObstaclesPrioritizer {
   public:
    ObstaclesPrioritizer() = delete;
  
    static void PrioritizeObstacles(
        const EnvironmentFeatures& environment_features,
        const std::shared_ptr<ScenarioFeatures> scenario_features);
  
   private:
    static void AssignIgnoreLevel(
        const EnvironmentFeatures& environment_features,
        const std::shared_ptr<ScenarioFeatures> scenario_features);
  
    static void AssignCautionLevel(
        const std::shared_ptr<ScenarioFeatures> scenario_features);
  
    static void AssignCautionLevelInCruise(
        const std::shared_ptr<ScenarioFeatures> scenario_features);
  
    static void AssignCautionLevelCruiseKeepLane();
  
    static void AssignCautionLevelCruiseChangeLane();
  
    static void AssignCautionLevelInJunction(
        const std::shared_ptr<ScenarioFeatures> scenario_features);
  
    static void AssignCautionLevelByEgoReferenceLine();
  
    static void AssignCautionByMerge(
        std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr);
  
    static void AssignCautionByOverlap(
        std::shared_ptr<const hdmap::LaneInfo> lane_info_ptr);
  
    static void SetCautionBackward(
      std::shared_ptr<const hdmap::LaneInfo> start_lane_info_ptr,
      const double distance);
  };
  
  }  // namespace prediction
  }  // namespace apollo
  