spline_2d_seg.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 <utility>
#include <vector>
 
#include "modules/planning/planning_base/math/polynomial_xd.h"
 
namespace apollo {
namespace planning {
 
class Spline2dSeg {
 public:
  // order represent the number of parameters (not the highest order);
  explicit Spline2dSeg(const uint32_t order);
  Spline2dSeg(const std::vector<double>& x_param,
              const std::vector<double>& y_param);
  ~Spline2dSeg() = default;
 
  bool SetParams(const std::vector<double>& x_param,
                 const std::vector<double>& y_param);
 
  std::pair<double, double> operator()(const double t) const;
  double x(const double t) const;
  double y(const double t) const;
  double DerivativeX(const double t) const;
  double DerivativeY(const double t) const;
  double SecondDerivativeX(const double t) const;
  double SecondDerivativeY(const double t) const;
  double ThirdDerivativeX(const double t) const;
  double ThirdDerivativeY(const double t) const;
 
  const PolynomialXd& spline_func_x() const;
  const PolynomialXd& spline_func_y() const;
  const PolynomialXd& DerivativeX() const;
  const PolynomialXd& DerivativeY() const;
  const PolynomialXd& SecondDerivativeX() const;
  const PolynomialXd& SecondDerivativeY() const;
  const PolynomialXd& ThirdDerivativeX() const;
  const PolynomialXd& ThirdDerivativeY() const;
 
 private:
  PolynomialXd spline_func_x_;
  PolynomialXd spline_func_y_;
  PolynomialXd derivative_x_;
  PolynomialXd derivative_y_;
  PolynomialXd second_derivative_x_;
  PolynomialXd second_derivative_y_;
  PolynomialXd third_derivative_x_;
  PolynomialXd third_derivative_y_;
};
 
}  // namespace planning
}  // namespace apollo