lattice_trajectory1d.h

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/******************************************************************************
 * Copyright 2018 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 <memory>
#include <string>
 
#include "modules/planning/planning_base/math/curve1d/curve1d.h"
 
namespace apollo {
namespace planning {
 
class LatticeTrajectory1d : public Curve1d {
 public:
  explicit LatticeTrajectory1d(std::shared_ptr<Curve1d> ptr_trajectory1d);
 
  virtual ~LatticeTrajectory1d() = default;
 
  virtual double Evaluate(const std::uint32_t order, const double param) const;
 
  virtual double ParamLength() const;
 
  virtual std::string ToString() const;
 
  bool has_target_position() const;
 
  bool has_target_velocity() const;
 
  bool has_target_time() const;
 
  double target_position() const;
 
  double target_velocity() const;
 
  double target_time() const;
 
  void set_target_position(double target_position);
 
  void set_target_velocity(double target_velocity);
 
  void set_target_time(double target_time);
 
 private:
  std::shared_ptr<Curve1d> ptr_trajectory1d_;
 
  double target_position_ = 0.0;
 
  double target_velocity_ = 0.0;
 
  double target_time_ = 0.0;
 
  bool has_target_position_ = false;
 
  bool has_target_velocity_ = false;
 
  bool has_target_time_ = false;
};
 
}  // namespace planning
}  // namespace apollo