#include <polynomial.h>

apollo::perception::base::Polynomial 的协作图:

Public 成员函数
	Polynomial ()

	~Polynomial ()

double &	operator[] (const uint32_t &order)

double	operator() (const double &x)

const std::map< uint32_t, double > &	getCoeff () const

详细描述

在文件 polynomial.h 第 26 行定义.

构造及析构函数说明

◆ Polynomial()

apollo::perception::base::Polynomial::Polynomial ( )

在文件 polynomial.cc 第 22 行定义.

22{ coeff_[0] = 0.0; }

◆ ~Polynomial()

apollo::perception::base::Polynomial::~Polynomial ( )

在文件 polynomial.cc 第 23 行定义.

23{}

成员函数说明

◆ getCoeff()

const std::map< uint32_t, double > & apollo::perception::base::Polynomial::getCoeff ( ) const

在文件 polynomial.cc 第 25 行定义.

                                                           {
  return coeff_;
}

◆ operator()()

double apollo::perception::base::Polynomial::operator() ( const double & x )

在文件 polynomial.cc 第 34 行定义.

                                             {
  if (!initialized_) {
    index_gap_.resize(coeff_.size() - 1, 0);
    auto it = coeff_.begin();
    auto it_previous = coeff_.begin();
    ++it;
    size_t idx = 0;
    for (; it != coeff_.end(); ++it, ++it_previous) {
      const uint32_t& order = it->first;
      const uint32_t& order_pre = it_previous->first;
      uint32_t gap = order - order_pre;
      index_gap_[idx] = gap;
      ++idx;
      power_cache_[gap] = 0.0;
    }
    initialized_ = true;
  }
 
  for (auto& item : power_cache_) {
    item.second = x;
    for (size_t i = 0; i < item.first - 1; ++i) {
      item.second *= x;
    }
  }
 
  auto r_it = coeff_.rbegin();
  double sum = r_it->second;
  auto it_gap = index_gap_.rbegin();
  while (it_gap != index_gap_.rend()) {
    ++r_it;
    sum = power_cache_[*it_gap] * sum + r_it->second;
    ++it_gap;
  }
 
  return sum;
}

◆ operator[]()

double & apollo::perception::base::Polynomial::operator[] ( const uint32_t & order )

在文件 polynomial.cc 第 29 行定义.

                                                    {
  initialized_ = false;
  return coeff_[order];
}

该类的文档由以下文件生成:

modules/perception/common/base/polynomial.h
modules/perception/common/base/polynomial.cc

Public 成员函数