yuhesen_adapter.h 1.3 KB

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  1. #ifndef YUHESEN_ADAPTER_H
  2. #define YUHESEN_ADAPTER_H
  3. #include <gps_type.h>
  4. #include <decition_type.h>
  5. #include <obstacle_type.h>
  6. #include <vector>
  7. #include <gnss_coordinate_convert.h>
  8. #include <adc_adapter/base_adapter.h>
  9. #include <adc_tools/transfer.h>
  10. //#include <decision/decide_gps_00.h>
  11. namespace iv {
  12. namespace decition {
  13. class YuHeSenAdapter: public BaseAdapter {
  14. public:
  15. float lastTorque;
  16. float lastBrake;
  17. int lastDangWei=0;
  18. int seizingCount=0;
  19. YuHeSenAdapter();
  20. ~YuHeSenAdapter();
  21. iv::decition::Decition getAdapterDeciton(GPS_INS now_gps_ins, std::vector<Point2D> trace , float dSpeed, float obsDistacne ,
  22. float obsSpeed,float acc,float accNow ,bool changingDangWei,Decition *decition);
  23. float limitBrake(float realSpeed, float controlBrake,float dSpeed,float obsDistance , float ttc);
  24. float limitSpeed(float realSpeed, float controlBrake,float dSpeed,float controlSpeed );
  25. private:
  26. };
  27. }
  28. }
  29. #endif // VV7_ADAPTER_H