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.
   *****************************************************************************/
  
  /**
   * @file
   **/
  
  #pragma once
  
  #include <vector>
  
  #include "modules/planning/tasks/deciders/decider.h"
  
  #include "modules/planning/common/history.h"
  #include "modules/planning/proto/decider_config.pb.h"
  #include "modules/planning/proto/planning_config.pb.h"
  
  namespace apollo {
  namespace planning {
  
  class PathReuseDecider : public Decider {
   public:
    explicit PathReuseDecider(const TaskConfig& config);
  
   private:
    common::Status Process(Frame* frame,
                           ReferenceLineInfo* reference_line_info) override;
    bool CheckPathReusable(Frame* frame);
    void GetCurrentStopPositions(
        Frame* frame,
        std::vector<const common::PointENU*>* current_stop_positions);
    void GetHistoryStopPositions(
        const std::vector<const HistoryObjectDecision*>&
            history_objects_decisions,
        std::vector<const common::PointENU*>* history_stop_positions);
  
   private:
    History* history_ = History::Instance();
    static int reusable_path_counter_;  // count reused path
    static int total_path_counter_;     // count total path
  };
  
  }  // namespace planning
  }  // namespace apollo
  