feasible_region.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 <algorithm>
 
#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
 
namespace apollo {
namespace planning {
 
class FeasibleRegion {
 public:
  explicit FeasibleRegion(const std::array<double, 3>& init_s);
 
  double SUpper(const double t) const;
 
  double SLower(const double t) const;
 
  double VUpper(const double t) const;
 
  double VLower(const double t) const;
 
  double TLower(const double s) const;
 
 private:
  std::array<double, 3> init_s_;
 
  double t_at_zero_speed_;
 
  double s_at_zero_speed_;
};
 
}  // namespace planning
}  // namespace apollo