BSpline.hpp

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#pragma once
 
/*
 * Copyright (C) 2019-2022 LEIDOS.
 *
 * 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.
 */
 
#include <vector>
#include <carma_wm/Geometry.hpp>
#include <basic_autonomy/smoothing/SplineI.hpp>
#include <unsupported/Eigen/Splines>
 
namespace basic_autonomy
{
namespace smoothing
{
 
  typedef Eigen::Spline<double, 2> Spline2d;
class BSpline : public SplineI
{
public:
  ~BSpline(){};
  void setPoints(const std::vector<lanelet::BasicPoint2d>& points) override;
  lanelet::BasicPoint2d operator()(double t) const override;
  lanelet::BasicPoint2d first_deriv(double t) const override;
  lanelet::BasicPoint2d second_deriv(double t) const override;
private:
  Spline2d spline_;
};
} // namespace smoothing
} // namespace basic_autonomy