spline_seg_kernel.h

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/******************************************************************************
 * Copyright 2017 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 <string>

#include "Eigen/Core"
#include "cyber/common/macros.h"

namespace apollo {
namespace planning {

class SplineSegKernel {
 public:
  // generating kernel matrix
  Eigen::MatrixXd Kernel(const uint32_t num_params, const double accumulated_x);

  // only support N <= 3 cases
  Eigen::MatrixXd NthDerivativeKernel(const uint32_t n,
                                      const uint32_t num_params,
                                      const double accumulated_x);

 private:
  Eigen::MatrixXd DerivativeKernel(const uint32_t num_of_params,
                                   const double accumulated_x);
  Eigen::MatrixXd SecondOrderDerivativeKernel(const uint32_t num_of_params,
                                              const double accumulated_x);
  Eigen::MatrixXd ThirdOrderDerivativeKernel(const uint32_t num_of_params,
                                             const double accumulated_x);

  void IntegratedTermMatrix(const uint32_t num_of_params, const double x,
                            const std::string& type,
                            Eigen::MatrixXd* term_matrix) const;
  void CalculateFx(const uint32_t num_of_params);
  void CalculateDerivative(const uint32_t num_of_params);
  void CalculateSecondOrderDerivative(const uint32_t num_of_params);
  void CalculateThirdOrderDerivative(const uint32_t num_of_params);

  const uint32_t reserved_order_ = 5;
  Eigen::MatrixXd kernel_fx_;
  Eigen::MatrixXd kernel_derivative_;
  Eigen::MatrixXd kernel_second_order_derivative_;
  Eigen::MatrixXd kernel_third_order_derivative_;

  DECLARE_SINGLETON(SplineSegKernel)
};

}  // namespace planning
}  // namespace apollo