publishable_trajectory.h

浏览该文件的文档.

/******************************************************************************
 * 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 "modules/common_msgs/planning_msgs/planning.pb.h"
 
#include "modules/planning/planning_base/common/trajectory/discretized_trajectory.h"
 
namespace apollo {
namespace planning {
 
class PublishableTrajectory : public DiscretizedTrajectory {
 public:
  PublishableTrajectory() = default;
 
  PublishableTrajectory(const double header_time,
                        const DiscretizedTrajectory& discretized_trajectory);
  explicit PublishableTrajectory(const ADCTrajectory& trajectory_pb);
 
  double header_time() const;
 
  void PopulateTrajectoryProtobuf(ADCTrajectory* trajectory_pb) const;
 
 private:
  double header_time_ = 0.0;
};
 
}  // namespace planning
}  // namespace apollo