qp_spline_reference_line_smoother.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 <memory>
#include <vector>
 
#include "modules/common_msgs/planning_msgs/planning.pb.h"
#include "modules/planning/planning_base/proto/reference_line_smoother_config.pb.h"
 
#include "modules/planning/planning_base/math/smoothing_spline/spline_2d_solver.h"
#include "modules/planning/planning_base/reference_line/reference_line.h"
#include "modules/planning/planning_base/reference_line/reference_line_smoother.h"
#include "modules/planning/planning_base/reference_line/reference_point.h"
 
namespace apollo {
namespace planning {
 
class QpSplineReferenceLineSmoother : public ReferenceLineSmoother {
 public:
  explicit QpSplineReferenceLineSmoother(
      const ReferenceLineSmootherConfig& config);
 
  virtual ~QpSplineReferenceLineSmoother() = default;
 
  bool Smooth(const ReferenceLine& raw_reference_line,
              ReferenceLine* const smoothed_reference_line) override;
 
  void SetAnchorPoints(const std::vector<AnchorPoint>& anchor_points) override;
 
 private:
  void Clear();
 
  bool Sampling();
 
  bool AddConstraint();
 
  bool AddKernel();
 
  bool Solve();
 
  bool ExtractEvaluatedPoints(
      const ReferenceLine& raw_reference_line, const std::vector<double>& vec_t,
      std::vector<common::PathPoint>* const path_points) const;
 
  bool GetSFromParamT(const double t, double* const s) const;
 
  std::uint32_t FindIndex(const double t) const;
 
 private:
  std::vector<double> t_knots_;
  std::vector<AnchorPoint> anchor_points_;
  std::unique_ptr<Spline2dSolver> spline_solver_;
 
  double ref_x_ = 0.0;
  double ref_y_ = 0.0;
};
 
}  // namespace planning
}  // namespace apollo