cos_theta_smoother.h

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/******************************************************************************
 * Copyright 2019 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/proto/math/cos_theta_smoother_config.pb.h"

namespace apollo {
namespace planning {
class CosThetaSmoother {
 public:
  explicit CosThetaSmoother(const CosThetaSmootherConfig& config);

  bool Solve(const std::vector<std::pair<double, double>>& raw_point2d,
             const std::vector<double>& bounds, std::vector<double>* opt_x,
             std::vector<double>* opt_y);

 private:
  CosThetaSmootherConfig config_;
};

}  // namespace planning
}  // namespace apollo