text: /******************************************************************************
   * 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.
   *****************************************************************************/
  
  /**
   * @file
   **/
  
  #pragma once
  
  #include <algorithm>
  #include <array>
  
  #include "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 FLAGS_longitudinal_acceleration_lower_bound =5; //手动定义
    // double FLAGS_longitudinal_acceleration_upper_bound =5; //手动定义
  
  
    double s_at_zero_speed_;
  };
  
  }  // namespace planning
  }  // namespace apollo
  