apollo::control::TrajectoryAnalyzerExtend类 参考

process point query and conversion related to trajectory 更多...

#include <trajectory_analyzer_extend.h>

类 apollo::control::TrajectoryAnalyzerExtend 继承关系图:

apollo::control::TrajectoryAnalyzerExtend 的协作图:

Public 成员函数
	TrajectoryAnalyzerExtend ()=default
	constructor
	TrajectoryAnalyzerExtend (const planning::ADCTrajectory *planning_published_trajectory)
	~TrajectoryAnalyzerExtend ()=default
	destructor
common::TrajectoryPoint	QueryNearestPointByRelativeStation (const common::TrajectoryPoint &ref_point, const double &relative_station) const
	query a point of trajectory that its s distance for reference trajectory point is closest to the give reference trajectory point and relative s distance.
Public 成员函数 继承自 apollo::control::TrajectoryAnalyzer
	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

额外继承的成员函数
Protected 属性 继承自 apollo::control::TrajectoryAnalyzer
std::vector< common::TrajectoryPoint >	trajectory_points_
double	header_time_ = 0.0
unsigned int	seq_num_ = 0

详细描述

process point query and conversion related to trajectory

在文件 trajectory_analyzer_extend.h 第 48 行定义.

构造及析构函数说明

TrajectoryAnalyzerExtend() [1/2]

apollo::control::TrajectoryAnalyzerExtend::TrajectoryAnalyzerExtend ( )

default

constructor

TrajectoryAnalyzerExtend() [2/2]

apollo::control::TrajectoryAnalyzerExtend::TrajectoryAnalyzerExtend ( const planning::ADCTrajectory *  planning_published_trajectory )

inline

在文件 trajectory_analyzer_extend.h 第 55 行定义.

                                                                                         :
            TrajectoryAnalyzer(planning_published_trajectory) {}

~TrajectoryAnalyzerExtend()

apollo::control::TrajectoryAnalyzerExtend::~TrajectoryAnalyzerExtend ( )

default

destructor

成员函数说明

QueryNearestPointByRelativeStation()

TrajectoryPoint apollo::control::TrajectoryAnalyzerExtend::QueryNearestPointByRelativeStation	(	const common::TrajectoryPoint &	ref_point,
		const double &	relative_station
	)		const

query a point of trajectory that its s distance for reference trajectory point is closest to the give reference trajectory point and relative s distance.

The relative s distance is relative to the reference trajectory point

参数

t	relative s distance for query

返回

a point of trajectory

在文件 trajectory_analyzer_extend.cc 第 37 行定义.

                                              {
    std::vector<std::pair<const common::TrajectoryPoint, double>> relative_trajectory_point;
    relative_trajectory_point.push_back(std::make_pair(ref_point, relative_station));
    auto func_comp
            = [](const TrajectoryPoint &point,
                 const std::vector<std::pair<const common::TrajectoryPoint, double>> &relative_trajectory_point) {
                  return point.path_point().s()
                          < relative_trajectory_point[0].first.path_point().s() + relative_trajectory_point[0].second;
              };
 
    auto it_low = std::lower_bound(
            trajectory_points_.begin(), trajectory_points_.end(), relative_trajectory_point, func_comp);
 
    if (it_low == trajectory_points_.begin()) {
        return trajectory_points_.front();
    }
 
    if (it_low == trajectory_points_.end()) {
        return trajectory_points_.back();
    }
 
    if (FLAGS_query_forward_station_point_only) {
        return *it_low;
    } else {
        auto it_lower = it_low - 1;
        if (it_low->path_point().s() - ref_point.path_point().s()
            < ref_point.path_point().s() - it_lower->path_point().s()) {
            return *it_low;
        }
        return *it_lower;
    }
}

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该类的文档由以下文件生成:

• modules/control/control_task_base_extend/common/trajectory_analyzer_extend.h
• modules/control/control_task_base_extend/common/trajectory_analyzer_extend.cc