apollo::planning::ConstantJerkTrajectory1d类 参考

#include <constant_jerk_trajectory1d.h>

类 apollo::planning::ConstantJerkTrajectory1d 继承关系图:

apollo::planning::ConstantJerkTrajectory1d 的协作图:

Public 成员函数
	ConstantJerkTrajectory1d (const double p0, const double v0, const double a0, const double jerk, const double param)
virtual	~ConstantJerkTrajectory1d ()=default
double	Evaluate (const std::uint32_t order, const double param) const
double	ParamLength () const
std::string	ToString () const
double	start_position () const
double	start_velocity () const
double	start_acceleration () const
double	end_position () const
double	end_velocity () const
double	end_acceleration () const
double	jerk () const
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

详细描述

在文件 constant_jerk_trajectory1d.h 第 30 行定义.

构造及析构函数说明

ConstantJerkTrajectory1d()

apollo::planning::ConstantJerkTrajectory1d::ConstantJerkTrajectory1d	(	const double	p0,
		const double	v0,
		const double	a0,
		const double	jerk,
		const double	param
	)

在文件 constant_jerk_trajectory1d.cc 第 29 行定义.

    : p0_(p0), v0_(v0), a0_(a0), param_(param), jerk_(j) {
  CHECK_GT(param, FLAGS_numerical_epsilon);
  p1_ = Evaluate(0, param_);
  v1_ = Evaluate(1, param_);
  a1_ = Evaluate(2, param_);
}

~ConstantJerkTrajectory1d()

virtual apollo::planning::ConstantJerkTrajectory1d::~ConstantJerkTrajectory1d ( )

virtualdefault

成员函数说明

end_acceleration()

double apollo::planning::ConstantJerkTrajectory1d::end_acceleration

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 72 行定义.

{ return a1_; }

end_position()

double apollo::planning::ConstantJerkTrajectory1d::end_position

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 68 行定义.

{ return p1_; }

end_velocity()

double apollo::planning::ConstantJerkTrajectory1d::end_velocity

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 70 行定义.

{ return v1_; }

Evaluate()

double apollo::planning::ConstantJerkTrajectory1d::Evaluate ( const std::uint32_t  order, const double  param  ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 constant_jerk_trajectory1d.cc 第 41 行定义.

                                                                    {
  switch (order) {
    case 0: {
      return p0_ + v0_ * param + 0.5 * a0_ * param * param +
             jerk_ * param * param * param / 6.0;
    }
    case 1: {
      return v0_ + a0_ * param + 0.5 * jerk_ * param * param;
    }
    case 2: {
      return a0_ + jerk_ * param;
    }
    case 3: {
      return jerk_;
    }
    default:
      return 0.0;
  }
}

jerk()

double apollo::planning::ConstantJerkTrajectory1d::jerk

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 78 行定义.

{ return jerk_; }

ParamLength()

double apollo::planning::ConstantJerkTrajectory1d::ParamLength ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 constant_jerk_trajectory1d.cc 第 74 行定义.

{ return param_; }

start_acceleration()

double apollo::planning::ConstantJerkTrajectory1d::start_acceleration

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 66 行定义.

{ return a0_; }

start_position()

double apollo::planning::ConstantJerkTrajectory1d::start_position

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 62 行定义.

{ return p0_; }

start_velocity()

double apollo::planning::ConstantJerkTrajectory1d::start_velocity

(

)

const

在文件 constant_jerk_trajectory1d.cc 第 64 行定义.

{ return v0_; }

ToString()

std::string apollo::planning::ConstantJerkTrajectory1d::ToString ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 constant_jerk_trajectory1d.cc 第 76 行定义.

{ return ""; }

---

该类的文档由以下文件生成:

• modules/planning/planning_base/common/trajectory1d/constant_jerk_trajectory1d.h
• modules/planning/planning_base/common/trajectory1d/constant_jerk_trajectory1d.cc