本项目是对Apollo 6.0参考线平滑（Fem Smooth --QpWithOsqp）部分源码的移植。
原始输入轨迹为分段不均匀离散点，首先对轨迹进行分段线性插值处理，然后再进行平滑，最后再计算了平滑后轨迹的heading、kappa、dkappa值。
参考链接：
https://github.com/ApolloAuto/apollo
https://zhuanlan.zhihu.com/p/371585754
https://blog.csdn.net/xl_courage/article/details/121569105
https://blog.csdn.net/u013468614/article/details/108416552
原始轨迹：
分段线性插值后的轨迹：
平滑后的轨迹：
对比：
Eigen3、Boost、Protobuf
sudo apt install libeigen3-dev
sudo apt install libboost-all-dev
sudo apt install libprotobuf-dev protobuf-compiler
osqp
git clone https://github.com/oxfordcontrol/osqp
cd osqp
mkdir build
cd build
cmake ..
make
sudo make install
osqp-eigen
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build && cd build
cmake ..
make
sudo make install
matplotlib-cpp
git clone https://github.com/lava/matplotlib-cpp.git
cd matplotlib-cpp
mkdir build && cd build
cmake ..
make
sudo make install
参考链接：
https://blog.csdn.net/qq_38313901/article/details/119415574
https://blog.csdn.net/qq_35632833/article/details/116505099
https://blog.csdn.net/qq_41854911/article/details/119454212