#ifndef YUHESEN_ADAPTER_H #define YUHESEN_ADAPTER_H #include <gps_type.h> #include <decition_type.h> #include <obstacle_type.h> #include <vector> #include <gnss_coordinate_convert.h> #include <adc_adapter/base_adapter.h> #include <adc_tools/transfer.h> //#include <decision/decide_gps_00.h> namespace iv { namespace decition { class YuHeSenAdapter: public BaseAdapter { public: float lastTorque; float lastBrake; int lastDangWei=0; int seizingCount=0; YuHeSenAdapter(); ~YuHeSenAdapter(); iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D> trace , float dSpeed, float obsDistacne , float obsSpeed,float acc,float accNow ,bool changingDangWei,Decition *decition); float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc); float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed ); private: }; } } #endif // VV7_ADAPTER_H