piecewise_acceleration_trajectory1d.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 <vector>
 
#include "modules/planning/planning_base/math/curve1d/curve1d.h"
 
namespace apollo {
namespace planning {
 
class PiecewiseAccelerationTrajectory1d : public Curve1d {
 public:
  PiecewiseAccelerationTrajectory1d(const double start_s, const double start_v);
 
  virtual ~PiecewiseAccelerationTrajectory1d() = default;
 
  void AppendSegment(const double a, const double t_duration);
 
  void PopSegment();
 
  double ParamLength() const override;
 
  std::string ToString() const override;
 
  double Evaluate(const std::uint32_t order, const double param) const override;
 
  std::array<double, 4> Evaluate(const double t) const;
 
 private:
  double Evaluate_s(const double t) const;
 
  double Evaluate_v(const double t) const;
 
  double Evaluate_a(const double t) const;
 
  double Evaluate_j(const double t) const;
 
 private:
  // accumulated s
  std::vector<double> s_;
 
  std::vector<double> v_;
 
  // accumulated t
  std::vector<double> t_;
 
  std::vector<double> a_;
};
 
}  // namespace planning
}  // namespace apollo