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- #pragma once
- #ifndef _IV_DECITION__BASE_CONTROLLER_
- #define _IV_DECITION__BASE_CONTROLLER_
- #include <gps_type.h>
- #include <decition_type.h>
- #include <obstacle_type.h>
- #include<vector>
- #include <gnss_coordinate_convert.h>
- namespace iv {
- namespace decition {
- class BaseController {
- public:
- int controller_id;
- std::string controller_name;
- BaseController();
- ~BaseController();
-
- virtual iv::decition::Decition getControlDecition(GPS_INS now_gps_ins, std::vector<Point2D> path , float dSpeed, float obsDistacne , float obsSpeed,
- bool computeAngle, bool computeAcc, Decition *decition);
- private:
- };
- }
- }
- #endif
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