#include <constant_deceleration_trajectory1d.h>

类 apollo::planning::ConstantDecelerationTrajectory1d 继承关系图:

apollo::planning::ConstantDecelerationTrajectory1d 的协作图:

Public 成员函数
	ConstantDecelerationTrajectory1d (const double init_s, const double init_v, const double a)

virtual	~ConstantDecelerationTrajectory1d ()=default

double	ParamLength () const override

std::string	ToString () const override

double	Evaluate (const std::uint32_t order, const double param) const override

Public 成员函数继承自 apollo::planning::Curve1d
	Curve1d ()=default

virtual	~Curve1d ()=default

详细描述

在文件 constant_deceleration_trajectory1d.h 第 30 行定义.

构造及析构函数说明

◆ ConstantDecelerationTrajectory1d()

apollo::planning::ConstantDecelerationTrajectory1d::ConstantDecelerationTrajectory1d	(	const double	init_s,
		const double	init_v,
		const double	a
	)

在文件 constant_deceleration_trajectory1d.cc 第 31 行定义.

    : init_s_(init_s), init_v_(init_v), deceleration_(-a) {
  if (init_v_ < -FLAGS_numerical_epsilon) {
    AERROR << "negative init v = " << init_v_;
  }
  init_v_ = std::fabs(init_v_);
  ACHECK(deceleration_ > 0.0);
  end_t_ = init_v_ / deceleration_;
  end_s_ = init_v_ * init_v_ / (2.0 * deceleration_) + init_s_;
}

◆ ~ConstantDecelerationTrajectory1d()

virtual apollo::planning::ConstantDecelerationTrajectory1d::~ConstantDecelerationTrajectory1d ( )

virtualdefault

成员函数说明

◆ Evaluate()

double apollo::planning::ConstantDecelerationTrajectory1d::Evaluate	(	const std::uint32_t	order,
		const double	param
	)		const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 constant_deceleration_trajectory1d.cc 第 77 行定义.

                                                                            {
  switch (order) {
    case 0:
      return Evaluate_s(param);
    case 1:
      return Evaluate_v(param);
    case 2:
      return Evaluate_a(param);
    case 3:
      return Evaluate_j(param);
  }
  return 0.0;
}