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.
   *****************************************************************************/
  
  /**
   * @file
   **/
  
  #pragma once
  
  #include <string>
  #include <vector>
  
  #include "modules/planning/traffic_rules/traffic_rule.h"
  
  namespace apollo {
  namespace planning {
  
  class Crosswalk : public TrafficRule {
   public:
    explicit Crosswalk(const TrafficRuleConfig& config);
    virtual ~Crosswalk() = default;
  
    common::Status ApplyRule(Frame* const frame,
                             ReferenceLineInfo* const reference_line_info);
  
   private:
    void MakeDecisions(Frame* const frame,
                       ReferenceLineInfo* const reference_line_info);
    bool FindCrosswalks(ReferenceLineInfo* const reference_line_info);
    bool CheckStopForObstacle(ReferenceLineInfo* const reference_line_info,
                              const hdmap::CrosswalkInfoConstPtr crosswalk_ptr,
                              const Obstacle& obstacle,
                              const double stop_deceleration);
  
   private:
    static constexpr char const* CROSSWALK_VO_ID_PREFIX = "CW_";
    std::vector<const hdmap::PathOverlap*> crosswalk_overlaps_;
  };
  
  }  // namespace planning
  }  // namespace apollo
  