spline_1d.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 <vector>
 
#include "modules/planning/planning_base/math/polynomial_xd.h"
#include "modules/planning/planning_base/math/smoothing_spline/affine_constraint.h"
#include "modules/planning/planning_base/math/smoothing_spline/spline_1d_seg.h"
 
namespace apollo {
namespace planning {
 
class Spline1d {
 public:
  Spline1d(const std::vector<double>& x_knots, const uint32_t order);
 
  // @brief: given x return f(x) value, derivative, second order derivative and
  // the third order;
  double operator()(const double x) const;
  double Derivative(const double x) const;
  double SecondOrderDerivative(const double x) const;
  double ThirdOrderDerivative(const double x) const;
 
  // @brief: set spline segments
  bool SetSplineSegs(const Eigen::MatrixXd& param_matrix, const uint32_t order);
 
  const std::vector<double>& x_knots() const;
  uint32_t spline_order() const;
 
  const std::vector<Spline1dSeg>& splines() const;
 
 private:
  uint32_t FindIndex(const double x) const;
 
 private:
  std::vector<Spline1dSeg> splines_;
  std::vector<double> x_knots_;
  uint32_t spline_order_;
};
 
}  // namespace planning
}  // namespace apollo