change src1/decision/decision_brain.

src1/decision/decision_brain/ivdecision_brain.h

@@ -443,6 +443,29 @@ private:
     float ObsTimeWidth=1500;
     std::vector<iv::TracePoint> planTrace;
     bool roadNowStart=true;
+
+private:
+    iv::decition::Decition decision_reverseCar(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_reversing(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_reverseCircle(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_reverseDirect(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_reverseArr(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_dRever(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_dRever0(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_dRever1(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_dRever2(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_dRever3(iv::GPS_INS now_gps_ins);
+    iv::decition::Decition decision_dRever4(iv::GPS_INS now_gps_ins);
+
+    void decision_firstRun(GPS_INS now_gps_ins,
+                           const std::vector<GPSData> & gpsMapLine);
+
+    int decision_ParkCalc(GPS_INS now_gps_ins,iv::decition::Decition & gps_decition);
+
+    void decision_readyZhucheMode(GPS_INS now_gps_ins,const std::vector<GPSData> & gpsMapLine);
+    void decision_readyParkMode(GPS_INS now_gps_ins,const std::vector<GPSData> & gpsMapLine);
+    void decision_speedctrl(iv::decition::Decition & gps_decition,const std::vector<GPSData> & gpsMapLine);
+
 };
 
 }