piecewise_quintic_spiral_path.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 <string>
#include <vector>
 
#include "modules/planning/planning_base/math/curve1d/curve1d.h"
#include "modules/planning/planning_base/math/curve1d/quintic_spiral_path.h"
 
namespace apollo {
namespace planning {
 
class PiecewiseQuinticSpiralPath : public Curve1d {
 public:
  PiecewiseQuinticSpiralPath(const double theta, const double kappa,
                             const double dkappa);
 
  virtual ~PiecewiseQuinticSpiralPath() = default;
 
  void Append(const double theta, const double kappa, const double dkappa,
              const double delta_s);
 
  double Evaluate(const std::uint32_t order, const double param) const override;
 
  double DeriveKappaS(const double s) const;
 
  double ParamLength() const override;
 
  std::string ToString() const override { return "PiecewiseQuinticSpiralPath"; }
 
 private:
  size_t LocatePiece(const double param) const;
 
  std::vector<QuinticSpiralPath> pieces_;
 
  std::vector<double> accumulated_s_;
 
  double last_theta_ = 0.0;
 
  double last_kappa_ = 0.0;
 
  double last_dkappa_ = 0.0;
};
 
}  // namespace planning
}  // namespace apollo