discretized_path.h

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/******************************************************************************
 * Copyright 2017 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.
 *****************************************************************************/
 
#pragma once
 
#include <utility>
#include <vector>
 
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
 
namespace apollo {
namespace planning {
 
class DiscretizedPath : public std::vector<common::PathPoint> {
 public:
  DiscretizedPath() = default;
 
  explicit DiscretizedPath(std::vector<common::PathPoint> path_points);
 
  double Length() const;
 
  common::PathPoint Evaluate(const double path_s) const;
 
  common::PathPoint EvaluateReverse(const double path_s) const;
 
 protected:
  std::vector<common::PathPoint>::const_iterator QueryLowerBound(
      const double path_s) const;
  std::vector<common::PathPoint>::const_iterator QueryUpperBound(
      const double path_s) const;
};
 
}  // namespace planning
}  // namespace apollo