text: /*
   * Copyright 2020 Tier IV, Inc. 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.
   */
  #ifndef DEBUG_OBSTACLEA_AVOIDANCE_PLANNER_H
  #define DEBUG_OBSTACLEA_AVOIDANCE_PLANNER_H
  
  class ConstrainRectangle;
  
  visualization_msgs::MarkerArray getDebugVisualizationMarker(
    const std::vector<geometry_msgs::Point> & interpolated_points,
    const std::vector<autoware_planning_msgs::TrajectoryPoint> & optimized_points,
    const std::vector<geometry_msgs::Point> & straight_points,
    const std::vector<geometry_msgs::Pose> & fixed_points,
    const std::vector<geometry_msgs::Pose> & non_fixed_points,
    const std::vector<ConstrainRectangle> & constrain_ranges);
  
  visualization_msgs::MarkerArray getDebugPointsMarkers(
    const std::vector<geometry_msgs::Point> & interpolated_points,
    const std::vector<autoware_planning_msgs::TrajectoryPoint> & optimized_points,
    const std::vector<geometry_msgs::Point> & straight_points,
    const std::vector<geometry_msgs::Pose> & fixed_points,
    const std::vector<geometry_msgs::Pose> & non_fixed_points);
  
  visualization_msgs::MarkerArray getDebugConstrainMarkers(
    const std::vector<ConstrainRectangle> & constrain_ranges);
  
  nav_msgs::OccupancyGrid getDebugCostmap(
    const cv::Mat & clearance_map, const nav_msgs::OccupancyGrid & occupancy_grid);
  #endif
  