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- #ifndef _IV_DECITION__BASE_PLANNER_
- #define _IV_DECITION__BASE_PLANNER_
- #include <gps_type.h>
- #include <decition_type.h>
- #include <obstacle_type.h>
- #include<vector>
- #include <gnss_coordinate_convert.h>
- namespace iv {
- namespace decition {
- class BasePlanner {
- public:
- int planner_id;
- std::string planner_name;
- BasePlanner();
- virtual ~BasePlanner();
-
- virtual std::vector<iv::Point2D> getPath (GPS_INS now_gps_ins, const std::vector<GPSData>& gpsMapLine, int PathPoint, double offset, iv::LidarGridPtr lidarGridPtr);
- private:
- };
- }
- }
- #endif
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