Apollo 10.0
自动驾驶开放平台
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process point query and conversion related to trajectory 更多...
#include <trajectory_analyzer.h>
Public 成员函数 | |
TrajectoryAnalyzer ()=default | |
constructor | |
TrajectoryAnalyzer (const planning::ADCTrajectory *planning_published_trajectory) | |
constructor | |
~TrajectoryAnalyzer ()=default | |
destructor | |
unsigned int | seq_num () |
get sequence number of the trajectory | |
common::TrajectoryPoint | QueryNearestPointByAbsoluteTime (const double t) const |
query a point of trajectory that its absolute time is closest to the give time. | |
common::TrajectoryPoint | QueryNearestPointByRelativeTime (const double t) const |
query a point of trajectory that its relative time is closest to the give time. | |
common::TrajectoryPoint | QueryNearestPointByPosition (const double x, const double y) const |
query a point of trajectory that its position is closest to the given position. | |
common::PathPoint | QueryMatchedPathPoint (const double x, const double y) const |
query a point on trajectory that its position is closest to the given position. | |
void | ToTrajectoryFrame (const double x, const double y, const double theta, const double v, const common::PathPoint &matched_point, double *ptr_s, double *ptr_s_dot, double *ptr_d, double *ptr_d_dot) const |
convert a position with theta and speed to trajectory frame, | |
void | TrajectoryTransformToCOM (const double rear_to_com_distance) |
Transform the current trajectory points to the center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass. | |
common::math::Vec2d | ComputeCOMPosition (const double rear_to_com_distance, const common::PathPoint &path_point) const |
Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass. | |
const std::vector< common::TrajectoryPoint > & | trajectory_points () const |
get all points of the trajectory | |
Protected 属性 | |
std::vector< common::TrajectoryPoint > | trajectory_points_ |
double | header_time_ = 0.0 |
unsigned int | seq_num_ = 0 |
process point query and conversion related to trajectory
在文件 trajectory_analyzer.h 第 44 行定义.
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default |
constructor
apollo::control::TrajectoryAnalyzer::TrajectoryAnalyzer | ( | const planning::ADCTrajectory * | planning_published_trajectory | ) |
constructor
planning_published_trajectory | trajectory data generated by planning module |
在文件 trajectory_analyzer.cc 第 56 行定义.
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default |
destructor
common::math::Vec2d apollo::control::TrajectoryAnalyzer::ComputeCOMPosition | ( | const double | rear_to_com_distance, |
const common::PathPoint & | path_point | ||
) | const |
Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass.
rear_to_com_distance | Distance from rear wheels to the vehicle's center of mass. |
path_point | PathPoint along the published planning trajectory. |
在文件 trajectory_analyzer.cc 第 253 行定义.
PathPoint apollo::control::TrajectoryAnalyzer::QueryMatchedPathPoint | ( | const double | x, |
const double | y | ||
) | const |
query a point on trajectory that its position is closest to the given position.
x | value of x-coordination in the given position |
y | value of y-coordination in the given position |
在文件 trajectory_analyzer.cc 第 72 行定义.
TrajectoryPoint apollo::control::TrajectoryAnalyzer::QueryNearestPointByAbsoluteTime | ( | const double | t | ) | const |
query a point of trajectory that its absolute time is closest to the give time.
t | absolute time for query |
在文件 trajectory_analyzer.cc 第 154 行定义.
TrajectoryPoint apollo::control::TrajectoryAnalyzer::QueryNearestPointByPosition | ( | const double | x, |
const double | y | ||
) | const |
query a point of trajectory that its position is closest to the given position.
x | value of x-coordination in the given position |
y | value of y-coordination in the given position |
在文件 trajectory_analyzer.cc 第 188 行定义.
TrajectoryPoint apollo::control::TrajectoryAnalyzer::QueryNearestPointByRelativeTime | ( | const double | t | ) | const |
query a point of trajectory that its relative time is closest to the give time.
The time is relative to the first pointof trajectory
t | relative time for query |
在文件 trajectory_analyzer.cc 第 159 行定义.
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inline |
void apollo::control::TrajectoryAnalyzer::ToTrajectoryFrame | ( | const double | x, |
const double | y, | ||
const double | theta, | ||
const double | v, | ||
const common::PathPoint & | matched_point, | ||
double * | ptr_s, | ||
double * | ptr_s_dot, | ||
double * | ptr_d, | ||
double * | ptr_d_dot | ||
) | const |
convert a position with theta and speed to trajectory frame,
x | x-value of the position |
y | y-value of the position |
theta | heading angle on the position |
v | speed on the position |
matched_point | matched point on trajectory for the given position |
ptr_s | longitudinal distance |
ptr_s_dot | longitudinal speed |
ptr_d | lateral distance |
ptr_d_dot | lateral speed |
在文件 trajectory_analyzer.cc 第 109 行定义.
const std::vector< TrajectoryPoint > & apollo::control::TrajectoryAnalyzer::trajectory_points | ( | ) | const |
get all points of the trajectory
在文件 trajectory_analyzer.cc 第 203 行定义.
void apollo::control::TrajectoryAnalyzer::TrajectoryTransformToCOM | ( | const double | rear_to_com_distance | ) |
Transform the current trajectory points to the center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass.
rear_to_com_distance | Distance from rear wheels to the vehicle's center of mass. |
在文件 trajectory_analyzer.cc 第 242 行定义.
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protected |
在文件 trajectory_analyzer.h 第 153 行定义.
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protected |
在文件 trajectory_analyzer.h 第 154 行定义.
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protected |
在文件 trajectory_analyzer.h 第 151 行定义.