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cubic_polynomial_curve1d.h
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16 
21 #pragma once
22 
23 #include <array>
24 #include <string>
25 
27 
28 namespace apollo {
29 namespace planning {
30 
32  public:
33  CubicPolynomialCurve1d() = default;
34  virtual ~CubicPolynomialCurve1d() = default;
35 
36  CubicPolynomialCurve1d(const std::array<double, 3>& start, const double end,
37  const double param);
38 
45  CubicPolynomialCurve1d(const double x0, const double dx0, const double ddx0,
46  const double x1, const double param);
47 
48  void DerivedFromQuarticCurve(const PolynomialCurve1d& other);
49 
50  double Evaluate(const std::uint32_t order, const double p) const override;
51 
52  double ParamLength() const override { return param_; }
53  std::string ToString() const override;
54 
55  double Coef(const size_t order) const override;
56 
57  size_t Order() const override { return 3; }
58 
59  private:
60  void ComputeCoefficients(const double x0, const double dx0, const double ddx0,
61  const double x1, const double param);
62  std::array<double, 4> coef_ = {{0.0, 0.0, 0.0, 0.0}};
63  std::array<double, 3> start_condition_ = {{0.0, 0.0, 0.0}};
64  double end_condition_ = 0.0;
65 };
66 
67 } // namespace planning
68 } // namespace apollo
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
Planning module main class. It processes GPS and IMU as input, to generate planning info...
void DerivedFromQuarticCurve(const PolynomialCurve1d &other)
Definition: polynomial_curve1d.h:28
double param_
Definition: polynomial_curve1d.h:37
std::string ToString() const override
double Evaluate(const std::uint32_t order, const double p) const override
double ParamLength() const override
Definition: cubic_polynomial_curve1d.h:52
Definition: cubic_polynomial_curve1d.h:31
size_t Order() const override
Definition: cubic_polynomial_curve1d.h:57
double Coef(const size_t order) const override