piecewise_jerk_trajectory1d.h

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 * Copyright 2018 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
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#pragma once

#include <string>
#include <vector>

#include "modules/planning/common/trajectory1d/constant_jerk_trajectory1d.h"
#include "modules/planning/math/curve1d/curve1d.h"

namespace apollo {
namespace planning {

class PiecewiseJerkTrajectory1d : public Curve1d {
 public:
  PiecewiseJerkTrajectory1d(const double p, const double v, const double a);

  virtual ~PiecewiseJerkTrajectory1d() = default;

  double Evaluate(const std::uint32_t order, const double param) const;

  double ParamLength() const;

  std::string ToString() const;

  void AppendSegment(const double jerk, const double param);

 private:
  std::vector<ConstantJerkTrajectory1d> segments_;

  double last_p_;

  double last_v_;

  double last_a_;

  std::vector<double> param_;
};

}  // namespace planning
}  // namespace apollo