ivlocalplan_simple.cpp 679 B

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  1. #include "ivlocalplan_simple.h"
  2. #include <iostream>
  3. #include "adc_tools/compute_00.h"
  4. #include "adc_tools/transfer.h"
  5. ivlocalplan_simple::ivlocalplan_simple()
  6. {
  7. }
  8. std::vector<iv::Point2D> ivlocalplan_simple::GetLocalPlan(iv::GPS_INS now_gps_ins,int nPathPointIndex ,double fSpeed,std::vector<iv::GPSData> gpsMapLine,
  9. iv::LidarGridPtr lidarGridPtr)
  10. {
  11. std::vector<iv::Point2D> xvectorplan;
  12. xvectorplan.clear();
  13. if(nPathPointIndex<0)
  14. {
  15. std::cout<<" ivlocalplan_simple::GetLocalPlan pathpoint<0. pathpoint = "<<nPathPointIndex<<std::endl;
  16. return xvectorplan;
  17. }
  18. return xvectorplan;
  19. }