#ifndef HAPO_ADAPTER_H
#define HAPO_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 HapoAdapter: public BaseAdapter {
                    public:

                        float lastTorque;
                        float lastBrake;
                        int lastDangWei=0;


                        HapoAdapter();
                        ~HapoAdapter();

                        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:
                        int seizingCount=0;

            };

    }
}


#endif // HAPO_ADAPTER_H