apollo::planning::HybridASoftBoundaryContainer 的协作图:

Public 成员函数
	HybridASoftBoundaryContainer ()=default

void	AddVirtualSoftBoundary (double obstacle_x, double obstacle_y, int vertice_num)

const std::vector< std::vector< common::math::Vec2d > > &	GetSoftBoundaryVerticesVec ()

详细描述

在文件 hybrid_a_star_wrapper.cc 第 48 行定义.

构造及析构函数说明

◆ HybridASoftBoundaryContainer()

apollo::planning::HybridASoftBoundaryContainer::HybridASoftBoundaryContainer ( )

default

成员函数说明

◆ AddVirtualSoftBoundary()

void apollo::planning::HybridASoftBoundaryContainer::AddVirtualSoftBoundary	(	double *	obstacle_x,
		double *	obstacle_y,
		int	vertice_num
	)

inline

在文件 hybrid_a_star_wrapper.cc 第 51 行定义.

                                                               {
    std::vector<common::math::Vec2d> soft_boundary_vertices;
    for (int i = 0; i < vertice_num; i++) {
      common::math::Vec2d vertice(obstacle_x[i], obstacle_y[i]);
      soft_boundary_vertices.emplace_back(vertice);
    }
    soft_boundary_list.emplace_back(soft_boundary_vertices);
 
    for (int i = 0; i < soft_boundary_list.size(); ++i) {
      for (const auto& vertice : soft_boundary_list[i]) {
        AERROR << "Soft boundary: " << i << ", "
               << vertice.x() << ", " << vertice.y();
      }
    }
  }

◆ GetSoftBoundaryVerticesVec()

const std::vector< std::vector< common::math::Vec2d > > & apollo::planning::HybridASoftBoundaryContainer::GetSoftBoundaryVerticesVec ( )