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- #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;
- }
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