cubic_polynomial_curve1d.h

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/******************************************************************************
 * 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.
 *****************************************************************************/
 
#pragma once
 
#include <array>
#include <string>
 
#include "modules/planning/planning_base/math/curve1d/polynomial_curve1d.h"
 
namespace apollo {
namespace planning {
 
class CubicPolynomialCurve1d : public PolynomialCurve1d {
 public:
  CubicPolynomialCurve1d() = default;
  virtual ~CubicPolynomialCurve1d() = default;
 
  CubicPolynomialCurve1d(const std::array<double, 3>& start, const double end,
                         const double param);
 
  CubicPolynomialCurve1d(const double x0, const double dx0, const double ddx0,
                         const double x1, const double param);
 
  void DerivedFromQuarticCurve(const PolynomialCurve1d& other);
 
  double Evaluate(const std::uint32_t order, const double p) const override;
 
  double ParamLength() const override { return param_; }
  std::string ToString() const override;
 
  double Coef(const size_t order) const override;
 
  size_t Order() const override { return 3; }
 
 private:
  void ComputeCoefficients(const double x0, const double dx0, const double ddx0,
                           const double x1, const double param);
  std::array<double, 4> coef_ = {{0.0, 0.0, 0.0, 0.0}};
  std::array<double, 3> start_condition_ = {{0.0, 0.0, 0.0}};
  double end_condition_ = 0.0;
};
 
}  // namespace planning
}  // namespace apollo