spline_1d.h File Reference

: piecewise smoothing spline class More...

#include <vector>
#include "modules/planning/math/polynomial_xd.h"
#include "modules/planning/math/smoothing_spline/affine_constraint.h"
#include "modules/planning/math/smoothing_spline/spline_1d_seg.h"

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Classes
class	apollo::planning::Spline1d

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::planning
	apollo::planning

Detailed Description

: piecewise smoothing spline class

1. Model description: piecewise smoothing spline are made by pieces of smoothing splines joint at knots;
2. To guarantee smoothness, pieces value at knots should joint together with same value, derivative, and etc. Higher the order, More smoothness the piecewise spline;