modularization/src1/decision/common/adc_adapter/base_adapter.h

#ifndef BASE_ADAPTER_H
#define BASE_ADAPTER_H



#include <gps_type.h>
#include <decition_type.h>
#include <obstacle_type.h>
#include <vector>
#include <gnss_coordinate_convert.h>

namespace iv {
namespace decition {

        class BaseAdapter {
        public:

            int adapter_id;
            std::string adapter_name;

            BaseAdapter();
            ~BaseAdapter();



        virtual  iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D>  trace , float dSpeed, float obsDistacne ,
                                                          float  obsSpeed,float accAim,float accNow, bool changingDangWei,Decition *decition);


        public:
            float minDecelerate = -100;
        private:


        };

    }
}





#endif // BASE_ADAPTER_H