polynomial_xd.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 <cinttypes>
#include <vector>
 
namespace apollo {
namespace planning {
 
class PolynomialXd {
 public:
  PolynomialXd() = default;
  explicit PolynomialXd(const std::uint32_t order);
  explicit PolynomialXd(const std::vector<double>& params);
  double operator()(const double value) const;
  double operator[](const std::uint32_t index) const;
  void SetParams(const std::vector<double>& params);
 
  static PolynomialXd DerivedFrom(const PolynomialXd& base);
  static PolynomialXd IntegratedFrom(const PolynomialXd& base,
                                     const double intercept = 0.0);
 
  std::uint32_t order() const;
  const std::vector<double>& params() const;
 
 private:
  std::vector<double> params_;
};
 
}  // namespace planning
}  // namespace apollo