free_move_predictor.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 <vector>
 
#include "modules/prediction/container/obstacles/obstacles_container.h"
#include "modules/prediction/predictor/predictor.h"
 
namespace apollo {
namespace prediction {
 
class FreeMovePredictor : public Predictor {
 public:
  FreeMovePredictor();
 
  virtual ~FreeMovePredictor() = default;
 
  bool Predict(const ADCTrajectoryContainer* adc_trajectory_container,
               Obstacle* obstacle,
               ObstaclesContainer* obstacles_container) override;
 
 private:
  void DrawFreeMoveTrajectoryPoints(
      const Eigen::Vector2d& position, const Eigen::Vector2d& velocity,
      const Eigen::Vector2d& acc, const double theta, const double start_time,
      const double total_time, const double period,
      std::vector<apollo::common::TrajectoryPoint>* points);
};
 
}  // namespace prediction
}  // namespace apollo