quartic_polynomial_curve1d.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 "modules/planning/planning_base/math/curve1d/polynomial_curve1d.h"
 
namespace apollo {
namespace planning {
 
// 1D quartic polynomial curve: (x0, dx0, ddx0) -- [0, param] --> (dx1, ddx1)
class QuarticPolynomialCurve1d : public PolynomialCurve1d {
 public:
  QuarticPolynomialCurve1d() = default;
 
  QuarticPolynomialCurve1d(const std::array<double, 3>& start,
                           const std::array<double, 2>& end,
                           const double param);
 
  QuarticPolynomialCurve1d(const double x0, const double dx0, const double ddx0,
                           const double dx1, const double ddx1,
                           const double param);
 
  QuarticPolynomialCurve1d(const QuarticPolynomialCurve1d& other);
 
  virtual ~QuarticPolynomialCurve1d() = default;
 
  double Evaluate(const std::uint32_t order, const double p) const override;
 
  QuarticPolynomialCurve1d& FitWithEndPointFirstOrder(
      const double x0, const double dx0, const double ddx0, const double x1,
      const double dx1, const double param);
 
  QuarticPolynomialCurve1d& FitWithEndPointSecondOrder(
      const double x0, const double dx0, const double x1, const double dx1,
      const double ddx1, const double param);
 
  /*
   * Integrated from cubic curve with init value
   */
  QuarticPolynomialCurve1d& IntegratedFromCubicCurve(
      const PolynomialCurve1d& other, const double init_value);
 
  /*
   * Derived from quintic curve
   */
  QuarticPolynomialCurve1d& DerivedFromQuinticCurve(
      const PolynomialCurve1d& other);
 
  double ParamLength() const override { return param_; }
 
  std::string ToString() const override;
 
  double Coef(const size_t order) const override;
 
  size_t Order() const override { return 4; }
 
 private:
  void ComputeCoefficients(const double x0, const double dx0, const double ddx0,
                           const double dx1, const double ddx1,
                           const double param);
 
  std::array<double, 5> coef_ = {{0.0, 0.0, 0.0, 0.0, 0.0}};
  std::array<double, 3> start_condition_ = {{0.0, 0.0, 0.0}};
  std::array<double, 2> end_condition_ = {{0.0, 0.0}};
};
 
}  // namespace planning
}  // namespace apollo