curve_math.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
 
namespace apollo {
namespace planning {
 
class CurveMath {
 public:
  CurveMath() = delete;
  static double ComputeCurvature(const double dx, const double d2x,
                                 const double dy, const double d2y);
 
  static double ComputeCurvatureDerivative(const double dx, const double d2x,
                                           const double d3x, const double dy,
                                           const double d2y, const double d3y);
};
 
}  // namespace planning
}  // namespace apollo