apollo::planning::ConstraintChecker1d类 参考

#include <constraint_checker1d.h>

apollo::planning::ConstraintChecker1d 的协作图:

Public 成员函数
	ConstraintChecker1d ()=delete

静态 Public 成员函数
static bool	IsValidLongitudinalTrajectory (const Curve1d &lon_trajectory)
static bool	IsValidLateralTrajectory (const Curve1d &lat_trajectory, const Curve1d &lon_trajectory)

详细描述

在文件 constraint_checker1d.h 第 29 行定义.

构造及析构函数说明

ConstraintChecker1d()

apollo::planning::ConstraintChecker1d::ConstraintChecker1d ( )

delete

成员函数说明

IsValidLateralTrajectory()

bool apollo::planning::ConstraintChecker1d::IsValidLateralTrajectory ( const Curve1d &  lat_trajectory, const Curve1d &  lon_trajectory  )

static

在文件 constraint_checker1d.cc 第 62 行定义.

                                                                  {
  double t = 0.0;
  while (t < lon_trajectory.ParamLength()) {
    double s = lon_trajectory.Evaluate(0, t);
    double dd_ds = lat_trajectory.Evaluate(1, s);
    double ds_dt = lon_trajectory.Evaluate(1, t);
 
    double d2d_ds2 = lat_trajectory.Evaluate(2, s);
    double d2s_dt2 = lon_trajectory.Evaluate(2, t);
 
    double a = 0.0;
    if (s < lat_trajectory.ParamLength()) {
      a = d2d_ds2 * ds_dt * ds_dt + dd_ds * d2s_dt2;
    }
 
    if (!fuzzy_within(a, -FLAGS_lateral_acceleration_bound,
                      FLAGS_lateral_acceleration_bound)) {
      return false;
    }
 
    // this is not accurate, just an approximation...
    double j = 0.0;
    if (s < lat_trajectory.ParamLength()) {
      j = lat_trajectory.Evaluate(3, s) * lon_trajectory.Evaluate(3, t);
    }
 
    if (!fuzzy_within(j, -FLAGS_lateral_jerk_bound, FLAGS_lateral_jerk_bound)) {
      return false;
    }
    t += FLAGS_trajectory_time_resolution;
  }
  return true;
}

IsValidLongitudinalTrajectory()

bool apollo::planning::ConstraintChecker1d::IsValidLongitudinalTrajectory ( const Curve1d &  lon_trajectory )

static

在文件 constraint_checker1d.cc 第 37 行定义.

                                   {
  double t = 0.0;
  while (t < lon_trajectory.ParamLength()) {
    double v = lon_trajectory.Evaluate(1, t);  // evaluate_v
    if (!fuzzy_within(v, FLAGS_speed_lower_bound, FLAGS_speed_upper_bound)) {
      return false;
    }
 
    double a = lon_trajectory.Evaluate(2, t);  // evaluate_a
    if (!fuzzy_within(a, FLAGS_longitudinal_acceleration_lower_bound,
                      FLAGS_longitudinal_acceleration_upper_bound)) {
      return false;
    }
 
    double j = lon_trajectory.Evaluate(3, t);
    if (!fuzzy_within(j, FLAGS_longitudinal_jerk_lower_bound,
                      FLAGS_longitudinal_jerk_upper_bound)) {
      return false;
    }
    t += FLAGS_trajectory_time_resolution;
  }
  return true;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/math/constraint_checker/constraint_checker1d.h
• modules/planning/planning_base/math/constraint_checker/constraint_checker1d.cc