trajectory_analyzer_extend.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/common_msgs/basic_msgs/pnc_point.pb.h"
#include "modules/common_msgs/planning_msgs/planning.pb.h"
 
#include "modules/common/math/box2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
 
#include "modules/control/control_component/controller_task_base/common/trajectory_analyzer.h"
 
namespace apollo {
namespace control {
 
// using apollo::common::TrajectoryPoint;
 
class TrajectoryAnalyzerExtend : public TrajectoryAnalyzer {
public:
    TrajectoryAnalyzerExtend() = default;
 
    TrajectoryAnalyzerExtend(const planning::ADCTrajectory *planning_published_trajectory) :
            TrajectoryAnalyzer(planning_published_trajectory) {}
 
    ~TrajectoryAnalyzerExtend() = default;
 
    common::TrajectoryPoint QueryNearestPointByRelativeStation(
            const common::TrajectoryPoint &ref_point,
            const double &relative_station) const;
};
 
}  // namespace control
}  // namespace apollo