text: /******************************************************************************
   * Copyright 2019 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 <string>
  #include <vector>
  
  #include "modules/common/configs/proto/vehicle_config.pb.h"
  #include "modules/planning/proto/speed_bounds_decider_config.pb.h"
  
  #include "modules/common/status/status.h"
  #include "modules/planning/common/obstacle.h"
  #include "modules/planning/common/path/path_data.h"
  #include "modules/planning/common/path_decision.h"
  #include "modules/planning/common/speed/st_boundary.h"
  #include "modules/planning/common/speed_limit.h"
  #include "modules/planning/reference_line/reference_line.h"
  
  namespace apollo {
  namespace planning {
  
  class STGuideLine {
   public:
    STGuideLine();
  
    virtual ~STGuideLine() = default;
  
    common::Status ComputeSTGuideLine(
        double vel_curr, double vel_expected, double acc);
  
    double GetGuideSFromT(double t) const;
  
   private:
    // Variables for simple guide-line calculation.
    double t_th;
    double s_th;
    double acc_stage_1;
    double vel_stage_2;
  };
  