#include "ivlocalplan_simple.h"

#include <iostream>
#include "adc_tools/compute_00.h"
#include "adc_tools/transfer.h"

ivlocalplan_simple::ivlocalplan_simple()
{

}

std::vector<iv::Point2D> ivlocalplan_simple::GetLocalPlan(iv::GPS_INS now_gps_ins,int nPathPointIndex ,double fSpeed,std::vector<iv::GPSData> gpsMapLine,
                                                  iv::LidarGridPtr lidarGridPtr)
{
    std::vector<iv::Point2D> xvectorplan;
    xvectorplan.clear();
    if(nPathPointIndex<0)
    {
        std::cout<<" ivlocalplan_simple::GetLocalPlan pathpoint<0. pathpoint = "<<nPathPointIndex<<std::endl;
        return xvectorplan;
    }




    return  xvectorplan;

}