apollo::planning::ComparableCost类 参考

#include <comparable_cost.h>

apollo::planning::ComparableCost 的协作图:

Public 成员函数
	ComparableCost ()=default
	ComparableCost (const bool has_collision, const bool out_of_boundary, const bool out_of_lane, const double safety_cost_, const double smoothness_cost_)
	ComparableCost (const ComparableCost &)=default
int	CompareTo (const ComparableCost &other) const
ComparableCost	operator+ (const ComparableCost &other)
ComparableCost &	operator+= (const ComparableCost &other)
bool	operator> (const ComparableCost &other) const
bool	operator>= (const ComparableCost &other) const
bool	operator< (const ComparableCost &other) const
bool	operator<= (const ComparableCost &other) const

Public 属性
std::array< bool, 3 >	cost_items = {{false, false, false}}
double	safety_cost = 0.0f
double	smoothness_cost = 0.0f

静态 Public 属性
static const size_t	HAS_COLLISION = 0
static const size_t	OUT_OF_BOUNDARY = 1
static const size_t	OUT_OF_LANE = 2

详细描述

在文件 comparable_cost.h 第 26 行定义.

构造及析构函数说明

ComparableCost() [1/3]

apollo::planning::ComparableCost::ComparableCost ( )

default

ComparableCost() [2/3]

apollo::planning::ComparableCost::ComparableCost ( const bool  has_collision, const bool  out_of_boundary, const bool  out_of_lane, const double  safety_cost_, const double  smoothness_cost_  )

inline

在文件 comparable_cost.h 第 29 行定义.

      : safety_cost(safety_cost_), smoothness_cost(smoothness_cost_) {
    cost_items[HAS_COLLISION] = has_collision;
    cost_items[OUT_OF_BOUNDARY] = out_of_boundary;
    cost_items[OUT_OF_LANE] = out_of_lane;
  }

ComparableCost() [3/3]

apollo::planning::ComparableCost::ComparableCost ( const ComparableCost &  )

default

成员函数说明

CompareTo()

int apollo::planning::ComparableCost::CompareTo ( const ComparableCost &  other ) const

inline

在文件 comparable_cost.h 第 39 行定义.

                                                   {
    for (size_t i = 0; i < cost_items.size(); ++i) {
      if (cost_items[i]) {
        if (other.cost_items[i]) {
          continue;
        } else {
          return 1;
        }
      } else {
        if (other.cost_items[i]) {
          return -1;
        } else {
          continue;
        }
      }
    }
 
    static constexpr double kEpsilon = 1e-12;
    const double diff = safety_cost + smoothness_cost - other.safety_cost -
                        other.smoothness_cost;
    if (std::fabs(diff) < kEpsilon) {
      return 0;
    } else if (diff > 0) {
      return 1;
    } else {
      return -1;
    }
  }

operator+()

ComparableCost apollo::planning::ComparableCost::operator+ ( const ComparableCost &  other )

inline

在文件 comparable_cost.h 第 67 行定义.

                                                        {
    ComparableCost lhs = *this;
    lhs += other;
    return lhs;
  }

operator+=()

ComparableCost & apollo::planning::ComparableCost::operator+= ( const ComparableCost &  other )

inline

在文件 comparable_cost.h 第 72 行定义.

                                                          {
    for (size_t i = 0; i < cost_items.size(); ++i) {
      cost_items[i] = (cost_items[i] || other.cost_items[i]);
    }
    safety_cost += other.safety_cost;
    smoothness_cost += other.smoothness_cost;
    return *this;
  }

operator<()

bool apollo::planning::ComparableCost::operator< ( const ComparableCost &  other ) const

inline

在文件 comparable_cost.h 第 86 行定义.

                                                    {
    return this->CompareTo(other) < 0;
  }

operator<=()

bool apollo::planning::ComparableCost::operator<= ( const ComparableCost &  other ) const

inline

在文件 comparable_cost.h 第 89 行定义.

                                                     {
    return this->CompareTo(other) <= 0;
  }

operator>()

bool apollo::planning::ComparableCost::operator> ( const ComparableCost &  other ) const

inline

在文件 comparable_cost.h 第 80 行定义.

                                                    {
    return this->CompareTo(other) > 0;
  }

operator>=()

bool apollo::planning::ComparableCost::operator>= ( const ComparableCost &  other ) const

inline

在文件 comparable_cost.h 第 83 行定义.

                                                     {
    return this->CompareTo(other) >= 0;
  }

类成员变量说明

cost_items

std::array<bool, 3> apollo::planning::ComparableCost::cost_items = {{false, false, false}}

在文件 comparable_cost.h 第 104 行定义.

{{false, false, false}};

HAS_COLLISION

const size_t apollo::planning::ComparableCost::HAS_COLLISION = 0

static

在文件 comparable_cost.h 第 101 行定义.

OUT_OF_BOUNDARY

const size_t apollo::planning::ComparableCost::OUT_OF_BOUNDARY = 1

static

在文件 comparable_cost.h 第 102 行定义.

OUT_OF_LANE

const size_t apollo::planning::ComparableCost::OUT_OF_LANE = 2

static

在文件 comparable_cost.h 第 103 行定义.

safety_cost

double apollo::planning::ComparableCost::safety_cost = 0.0f

在文件 comparable_cost.h 第 107 行定义.

smoothness_cost

double apollo::planning::ComparableCost::smoothness_cost = 0.0f

在文件 comparable_cost.h 第 109 行定义.

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该类的文档由以下文件生成:

• modules/planning/planning_interface_base/task_base/optimizers/road_graph/comparable_cost.h