text: /******************************************************************************
   * 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.
   *****************************************************************************/
  
  /**
   * @file : piecewise_linear_generator.h
   * @brief: The definition of PiecewiseLinearGenerator class
   **/
  
  #pragma once
  
  #include <memory>
  
  #include "modules/common/math/qp_solver/qp_solver.h"
  #include "modules/planning/math/smoothing_spline/piecewise_linear_constraint.h"
  #include "modules/planning/math/smoothing_spline/piecewise_linear_kernel.h"
  
  namespace apollo {
  namespace planning {
  
  class PiecewiseLinearGenerator {
   public:
    // x = f(t)
    PiecewiseLinearGenerator(const uint32_t num_of_segments,
                             const double unit_segment);
    virtual ~PiecewiseLinearGenerator() = default;
  
    PiecewiseLinearConstraint* mutable_constraint();
  
    PiecewiseLinearKernel* mutable_kernel();
  
    // solve
    bool Solve();
  
    // results
    Eigen::MatrixXd params() const { return qp_solver_->params(); }
  
   private:
    const uint32_t num_of_segments_;
    const double unit_segment_;
    const double total_t_;
  
    PiecewiseLinearConstraint constraint_;
    PiecewiseLinearKernel kernel_;
  
    std::unique_ptr<apollo::common::math::QpSolver> qp_solver_;
  };
  
  }  // namespace planning
  }  // namespace apollo
  