#include <affine_constraint.h>

apollo::planning::AffineConstraint 的协作图:

Public 成员函数
	AffineConstraint ()=default

	AffineConstraint (const bool is_equality)

	AffineConstraint (const Eigen::MatrixXd &constraint_matrix, const Eigen::MatrixXd &constraint_boundary, const bool is_equality)

void	SetIsEquality (const double is_equality)

const Eigen::MatrixXd &	constraint_matrix () const

const Eigen::MatrixXd &	constraint_boundary () const

bool	AddConstraint (const Eigen::MatrixXd &constraint_matrix, const Eigen::MatrixXd &constraint_boundary)

详细描述

在文件 affine_constraint.h 第 30 行定义.

构造及析构函数说明

◆ AffineConstraint() [1/3]

apollo::planning::AffineConstraint::AffineConstraint ( )

default

◆ AffineConstraint() [2/3]

apollo::planning::AffineConstraint::AffineConstraint ( const bool is_equality )

explicit

在文件 affine_constraint.cc 第 28 行定义.

29 : is_equality_(is_equality) {}

◆ AffineConstraint() [3/3]

apollo::planning::AffineConstraint::AffineConstraint	(	const Eigen::MatrixXd &	constraint_matrix,
		const Eigen::MatrixXd &	constraint_boundary,
		const bool	is_equality
	)

在文件 affine_constraint.cc 第 31 行定义.

    : constraint_matrix_(constraint_matrix),
      constraint_boundary_(constraint_boundary),
      is_equality_(is_equality) {
  CHECK_EQ(constraint_boundary.rows(), constraint_matrix.rows());
}

成员函数说明

◆ AddConstraint()

bool apollo::planning::AffineConstraint::AddConstraint	(	const Eigen::MatrixXd &	constraint_matrix,
		const Eigen::MatrixXd &	constraint_boundary
	)

在文件 affine_constraint.cc 第 52 行定义.

                                              {
  if (constraint_matrix.rows() != constraint_boundary.rows()) {
    AERROR << "Fail to add constraint because constraint matrix rows != "
              "constraint boundary rows.";
    AERROR << "constraint matrix rows = " << constraint_matrix.rows();
    AERROR << "constraint boundary rows = " << constraint_boundary.rows();
    return false;
  }
 
  if (constraint_matrix_.rows() == 0) {
    constraint_matrix_ = constraint_matrix;
    constraint_boundary_ = constraint_boundary;
    return true;
  }
  if (constraint_matrix_.cols() != constraint_matrix.cols()) {
    AERROR
        << "constraint_matrix_ cols and constraint_matrix cols do not match.";
    AERROR << "constraint_matrix_.cols() = " << constraint_matrix_.cols();
    AERROR << "constraint_matrix.cols() = " << constraint_matrix.cols();
    return false;
  }
  if (constraint_boundary.cols() != 1) {
    AERROR << "constraint_boundary.cols() should be 1.";
    return false;
  }
 
  Eigen::MatrixXd n_matrix(constraint_matrix_.rows() + constraint_matrix.rows(),
                           constraint_matrix_.cols());
  Eigen::MatrixXd n_boundary(
      constraint_boundary_.rows() + constraint_boundary.rows(), 1);
 
  n_matrix << constraint_matrix_, constraint_matrix;
  n_boundary << constraint_boundary_, constraint_boundary;
  constraint_matrix_ = n_matrix;
  constraint_boundary_ = n_boundary;
  return true;
}

◆ constraint_boundary()

const Eigen::MatrixXd & apollo::planning::AffineConstraint::constraint_boundary ( ) const

在文件 affine_constraint.cc 第 48 行定义.

                                                                 {
  return constraint_boundary_;
}

◆ constraint_matrix()

const Eigen::MatrixXd & apollo::planning::AffineConstraint::constraint_matrix ( ) const

在文件 affine_constraint.cc 第 44 行定义.

                                                               {
  return constraint_matrix_;
}

◆ SetIsEquality()

void apollo::planning::AffineConstraint::SetIsEquality ( const double is_equality )

在文件 affine_constraint.cc 第 40 行定义.

                                                             {
  is_equality_ = is_equality;
}

该类的文档由以下文件生成:

modules/planning/planning_base/math/smoothing_spline/affine_constraint.h
modules/planning/planning_base/math/smoothing_spline/affine_constraint.cc

Public 成员函数