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
   * @brief Define lane sequence predictor
   */
  
  #ifndef MODULES_PREDICTION_PREDICTOR_LANE_SEQUENCE_LANE_SEQUENCE_PREDICTOR_H_
  #define MODULES_PREDICTION_PREDICTOR_LANE_SEQUENCE_LANE_SEQUENCE_PREDICTOR_H_
  
  #include <string>
  #include <vector>
  
  #include "modules/common/math/kalman_filter.h"
  #include "modules/common/proto/pnc_point.pb.h"
  #include "modules/prediction/predictor/sequence/sequence_predictor.h"
  #include "modules/prediction/proto/lane_graph.pb.h"
  
  namespace apollo {
  namespace prediction {
  
  class LaneSequencePredictor : public SequencePredictor {
   public:
    /**
     * @brief Constructor
     */
    LaneSequencePredictor() = default;
  
    /**
     * @brief Destructor
     */
    virtual ~LaneSequencePredictor() = default;
  
    /**
     * @brief Make prediction
     * @param Obstacle pointer
     */
    void Predict(Obstacle* obstacle) override;
  
   protected:
    /**
     * @brief Draw lane sequence trajectory points
     * @param Obstacle
     * @param Lane sequence
     * @param Total prediction time
     * @param Prediction period
     * @param A vector of generated trajectory points
     */
    void DrawLaneSequenceTrajectoryPoints(
        const Obstacle& obstacle, const LaneSequence& lane_sequence,
        const double total_time, const double period,
        std::vector<apollo::common::TrajectoryPoint>* points);
  };
  
  }  // namespace prediction
  }  // namespace apollo
  
  #endif  // MODULES_PREDICTION_PREDICTOR_VEHICLE_LANE_SEQUENCE_PREDICTOR_H_
  