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.
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#pragma once

#include <utility>
#include <vector>

#include "modules/common/proto/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