#include <backup_trajectory_generator.h>

apollo::planning::BackupTrajectoryGenerator 的协作图:

Public 类型
typedef std::pair< std::shared_ptr< Curve1d >, std::shared_ptr< Curve1d > >	Trajectory1dPair

typedef std::pair< Trajectory1dPair, double >	PairCost

Public 成员函数
	BackupTrajectoryGenerator (const std::array< double, 3 > &init_s, const std::array< double, 3 > &init_d, const double init_relative_time, const std::shared_ptr< CollisionChecker > &ptr_collision_checker, const Trajectory1dGenerator *trajectory1d_generator)

DiscretizedTrajectory	GenerateTrajectory (const std::vector< common::PathPoint > &discretized_ref_points)

详细描述

在文件 backup_trajectory_generator.h 第 39 行定义.

成员类型定义说明

◆ PairCost

typedef std::pair<Trajectory1dPair, double> apollo::planning::BackupTrajectoryGenerator::PairCost

在文件 backup_trajectory_generator.h 第 43 行定义.

◆ Trajectory1dPair

typedef std::pair<std::shared_ptr<Curve1d>, std::shared_ptr<Curve1d> > apollo::planning::BackupTrajectoryGenerator::Trajectory1dPair

在文件 backup_trajectory_generator.h 第 42 行定义.

构造及析构函数说明

◆ BackupTrajectoryGenerator()

apollo::planning::BackupTrajectoryGenerator::BackupTrajectoryGenerator	(	const std::array< double, 3 > &	init_s,
		const std::array< double, 3 > &	init_d,
		const double	init_relative_time,
		const std::shared_ptr< CollisionChecker > &	ptr_collision_checker,
		const Trajectory1dGenerator *	trajectory1d_generator
	)

在文件 backup_trajectory_generator.cc 第 27 行定义.

    : init_relative_time_(init_relative_time),
      ptr_collision_checker_(ptr_collision_checker),
      ptr_trajectory1d_generator_(trajectory1d_generator) {
  GenerateTrajectory1dPairs(init_s, init_d);
}

成员函数说明

◆ GenerateTrajectory()

DiscretizedTrajectory apollo::planning::BackupTrajectoryGenerator::GenerateTrajectory ( const std::vector< common::PathPoint > & discretized_ref_points )

在文件 backup_trajectory_generator.cc 第 57 行定义.

                                                        {
  while (trajectory_pair_pqueue_.size() > 1) {
    auto top_pair = trajectory_pair_pqueue_.top();
    trajectory_pair_pqueue_.pop();
    DiscretizedTrajectory trajectory =
        TrajectoryCombiner::Combine(discretized_ref_points, *top_pair.first,
                                    *top_pair.second, init_relative_time_);
    if (!ptr_collision_checker_->InCollision(trajectory)) {
      return trajectory;
    }
  }
  auto top_pair = trajectory_pair_pqueue_.top();
  return TrajectoryCombiner::Combine(discretized_ref_points, *top_pair.first,
                                     *top_pair.second, init_relative_time_);
}

该类的文档由以下文件生成:

modules/planning/planners/lattice/trajectory_generation/backup_trajectory_generator.h
modules/planning/planners/lattice/trajectory_generation/backup_trajectory_generator.cc

Public 类型

Public 成员函数