46 const double x1,
const double param);
50 double Evaluate(
const std::uint32_t order,
const double p)
const override;
53 std::string
ToString()
const override;
55 double Coef(
const size_t order)
const override;
57 size_t Order()
const override {
return 3; }
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;
virtual ~CubicPolynomialCurve1d()=default
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
CubicPolynomialCurve1d()=default
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