st_gap_estimator.h

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
namespace apollo {
namespace planning {
class StGapEstimator {
 public:
  StGapEstimator() = delete;
 
  virtual ~StGapEstimator() = delete;
 
  static double EstimateSafeOvertakingGap();
 
  static double EstimateSafeFollowingGap(const double target_obs_speed);
 
  static double EstimateSafeYieldingGap();
 
  static double EstimateProperOvertakingGap(const double target_obs_speed,
                                            const double adc_speed);
 
  static double EstimateProperFollowingGap(const double adc_speed);
 
  static double EstimateProperYieldingGap();
};
}  // namespace planning
}  // namespace apollo