#ifndef IVIF_LOCALPLAN_H
#define IVIF_LOCALPLAN_H

#include "gps_type.h"
#include "obstacle_type.h"

class ivif_localplan
{
public:
    ivif_localplan();
    ~ivif_localplan();

public:
    virtual std::vector<iv::Point2D> GetLocalPlan(iv::GPS_INS now_gps_ins,int nPathPointIndex ,double fSpeed,std::vector<iv::GPSData> gpsMapLine,
                                                  iv::LidarGridPtr lidarGridPtr);
};

#endif // IVIF_LOCALPLAN_H