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Update reference_line_provider.md #6

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4 changes: 2 additions & 2 deletions docs/planning/reference_line_provider.md
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Expand Up @@ -8,7 +8,7 @@

2. knots分段与二次规划进行参考线平滑

除了参考线平，参考线提供器还提供参考线拼接的功能。参考线拼接是针对不同时刻的RawReference，如果两条原始的RawReference是相连并且有覆盖的，那么可以不需要重新去进行平滑，只要直接使用上时刻的平滑参考线，或者仅仅平滑部分anchor point即可。
除了参考线平滑，参考线提供器还提供参考线拼接的功能。参考线拼接是针对不同时刻的RawReference，如果两条原始的RawReference是相连并且有覆盖的，那么可以不需要重新去进行平滑，只要直接使用上时刻的平滑参考线，或者仅仅平滑部分anchor point即可。

## 功能1参考线平滑：路径点采样与轨迹点矫正

Expand Down Expand Up @@ -1236,4 +1236,4 @@ bool ReferenceLine::Shrink(const common::math::Vec2d& point,
}
```

注意在`ReferenceLineProvider::ExtendReferenceLine`中不论是ReferenceLine还是RouteSegments的Shrink函数，`look_forward`参数都设置为无穷大，所以只是后向收缩，前向不收缩。
注意在`ReferenceLineProvider::ExtendReferenceLine`中不论是ReferenceLine还是RouteSegments的Shrink函数，`look_forward`参数都设置为无穷大，所以只是后向收缩，前向不收缩。