Apollo 11.0
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Public 类型 | Public 成员函数 | 静态 Public 成员函数 | 所有成员列表
apollo::planning::ConstraintChecker类 参考

#include <constraint_checker.h>

apollo::planning::ConstraintChecker 的协作图:

Public 类型

enum class  Result {
  VALID , LON_VELOCITY_OUT_OF_BOUND , LON_ACCELERATION_OUT_OF_BOUND , LON_JERK_OUT_OF_BOUND ,
  LAT_VELOCITY_OUT_OF_BOUND , LAT_ACCELERATION_OUT_OF_BOUND , LAT_JERK_OUT_OF_BOUND , CURVATURE_OUT_OF_BOUND
}
 

Public 成员函数

 ConstraintChecker ()=delete
 

静态 Public 成员函数

static Result ValidTrajectory (const DiscretizedTrajectory &trajectory)
 

详细描述

在文件 constraint_checker.h 第 28 行定义.

成员枚举类型说明

◆ Result

enum class apollo::planning::ConstraintChecker::Result
strong
枚举值
VALID 
LON_VELOCITY_OUT_OF_BOUND 
LON_ACCELERATION_OUT_OF_BOUND 
LON_JERK_OUT_OF_BOUND 
LAT_VELOCITY_OUT_OF_BOUND 
LAT_ACCELERATION_OUT_OF_BOUND 
LAT_JERK_OUT_OF_BOUND 
CURVATURE_OUT_OF_BOUND 

在文件 constraint_checker.h 第 30 行定义.

30 {
31 VALID,
32 LON_VELOCITY_OUT_OF_BOUND,
33 LON_ACCELERATION_OUT_OF_BOUND,
34 LON_JERK_OUT_OF_BOUND,
35 LAT_VELOCITY_OUT_OF_BOUND,
36 LAT_ACCELERATION_OUT_OF_BOUND,
37 LAT_JERK_OUT_OF_BOUND,
38 CURVATURE_OUT_OF_BOUND,
39 };

构造及析构函数说明

◆ ConstraintChecker()

apollo::planning::ConstraintChecker::ConstraintChecker ( )
delete

成员函数说明

◆ ValidTrajectory()

ConstraintChecker::Result apollo::planning::ConstraintChecker::ValidTrajectory ( const DiscretizedTrajectory &  trajectory)
static

double d_lat_a = p1.v() * p1.v() * p1.path_point().kappa() - p0.v() * p0.v() * p0.path_point().kappa(); double lat_jerk = d_lat_a / dt; if (!WithinRange(lat_jerk, -FLAGS_lateral_jerk_bound, FLAGS_lateral_jerk_bound)) { ADEBUG << "Lateral jerk at relative time " << t << " exceeds bound, value: " << lat_jerk << ", bound [" << -FLAGS_lateral_jerk_bound << ", " << FLAGS_lateral_jerk_bound << "]."; return Result::LAT_JERK_OUT_OF_BOUND; }

在文件 constraint_checker.cc 第 36 行定义.

37 {
38 const double kMaxCheckRelativeTime = FLAGS_trajectory_time_length;
39 for (const auto& p : trajectory) {
40 double t = p.relative_time();
41 if (t > kMaxCheckRelativeTime) {
42 break;
43 }
44 double lon_v = p.v();
45 if (!WithinRange(lon_v, FLAGS_speed_lower_bound, FLAGS_speed_upper_bound)) {
46 ADEBUG << "Velocity at relative time " << t
47 << " exceeds bound, value: " << lon_v << ", bound ["
48 << FLAGS_speed_lower_bound << ", " << FLAGS_speed_upper_bound
49 << "].";
50 return Result::LON_VELOCITY_OUT_OF_BOUND;
51 }
52
53 double lon_a = p.a();
54 if (!WithinRange(lon_a, FLAGS_longitudinal_acceleration_lower_bound,
55 FLAGS_longitudinal_acceleration_upper_bound)) {
56 ADEBUG << "Longitudinal acceleration at relative time " << t
57 << " exceeds bound, value: " << lon_a << ", bound ["
58 << FLAGS_longitudinal_acceleration_lower_bound << ", "
59 << FLAGS_longitudinal_acceleration_upper_bound << "].";
60 return Result::LON_ACCELERATION_OUT_OF_BOUND;
61 }
62
63 double kappa = p.path_point().kappa();
64 if (!WithinRange(kappa, -FLAGS_kappa_bound, FLAGS_kappa_bound)) {
65 ADEBUG << "Kappa at relative time " << t
66 << " exceeds bound, value: " << kappa << ", bound ["
67 << -FLAGS_kappa_bound << ", " << FLAGS_kappa_bound << "].";
68 return Result::CURVATURE_OUT_OF_BOUND;
69 }
70 }
71
72 for (size_t i = 1; i < trajectory.NumOfPoints(); ++i) {
73 const auto& p0 = trajectory.TrajectoryPointAt(static_cast<uint32_t>(i - 1));
74 const auto& p1 = trajectory.TrajectoryPointAt(static_cast<uint32_t>(i));
75
76 if (p1.relative_time() > kMaxCheckRelativeTime) {
77 break;
78 }
79
80 double t = p0.relative_time();
81
82 double dt = p1.relative_time() - p0.relative_time();
83 double d_lon_a = p1.a() - p0.a();
84 double lon_jerk = d_lon_a / dt;
85 if (!WithinRange(lon_jerk, FLAGS_longitudinal_jerk_lower_bound,
86 FLAGS_longitudinal_jerk_upper_bound)) {
87 ADEBUG << "Longitudinal jerk at relative time " << t
88 << " exceeds bound, value: " << lon_jerk << ", bound ["
89 << FLAGS_longitudinal_jerk_lower_bound << ", "
90 << FLAGS_longitudinal_jerk_upper_bound << "].";
91 return Result::LON_JERK_OUT_OF_BOUND;
92 }
93
94 double lat_a = p1.v() * p1.v() * p1.path_point().kappa();
95 if (!WithinRange(lat_a, -FLAGS_lateral_acceleration_bound,
96 FLAGS_lateral_acceleration_bound)) {
97 ADEBUG << "Lateral acceleration at relative time " << t
98 << " exceeds bound, value: " << lat_a << ", bound ["
99 << -FLAGS_lateral_acceleration_bound << ", "
100 << FLAGS_lateral_acceleration_bound << "].";
101 return Result::LAT_ACCELERATION_OUT_OF_BOUND;
102 }
103
104 // TODO(zhangyajia): this is temporarily disabled
105 // due to low quality reference line.
119 }
120
121 return Result::VALID;
122}
ADEBUG
#define ADEBUG
Definition log.h:41
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