#ifndef GLOBALPLAN_H
#define GLOBALPLAN_H
#include "OpenDrive/OpenDrive.h"

#include <vector>

#include "xodrfunc.h"

#include "xodrdijkstra.h"

#include "planpoint.h"

class LaneChangePoint
{
    int nRoadID = -1;
    double mS = 0;
};

int GetNearPoint(const double x,const double y,OpenDrive * pxodr,Road ** pObjRoad,GeometryBlock ** pgeo, double & s,double & nearx,
                 double & neary,double & nearhead,const double nearthresh);

int MakePlan(xodrdijkstra * pxd,OpenDrive * pxodr,const double x_now,const double y_now,const double head,
             const double x_obj,const double y_obj,const double & obj_dis,
             const double srcnearthresh,const double dstnearthresh,
             const int nlanesel,std::vector<PlanPoint> & xPlan,const double fvehiclewidth = 2.0);
#endif // GLOBALPLAN_H