apollo::planning::CosThetaSmoother类 参考

#include <cos_theta_smoother.h>

apollo::planning::CosThetaSmoother 的协作图:

Public 成员函数
	CosThetaSmoother (const CosThetaSmootherConfig &config)
bool	Solve (const std::vector< std::pair< double, double > > &raw_point2d, const std::vector< double > &bounds, std::vector< double > *opt_x, std::vector< double > *opt_y)

详细描述

在文件 cos_theta_smoother.h 第 26 行定义.

构造及析构函数说明

CosThetaSmoother()

apollo::planning::CosThetaSmoother::CosThetaSmoother ( const CosThetaSmootherConfig &  config )

explicit

在文件 cos_theta_smoother.cc 第 27 行定义.

    : config_(config) {}

成员函数说明

Solve()

bool apollo::planning::CosThetaSmoother::Solve	(	const std::vector< std::pair< double, double > > &	raw_point2d,
		const std::vector< double > &	bounds,
		std::vector< double > *	opt_x,
		std::vector< double > *	opt_y
	)

在文件 cos_theta_smoother.cc 第 30 行定义.

                              {
  const double weight_cos_included_angle = config_.weight_cos_included_angle();
  const double weight_anchor_points = config_.weight_anchor_points();
  const double weight_length = config_.weight_length();
  const size_t print_level = config_.print_level();
  const size_t max_num_of_iterations = config_.max_num_of_iterations();
  const size_t acceptable_num_of_iterations =
      config_.acceptable_num_of_iterations();
  const double tol = config_.tol();
  const double acceptable_tol = config_.acceptable_tol();
  const bool use_automatic_differentiation =
      config_.ipopt_use_automatic_differentiation();
 
  CosThetaIpoptInterface* smoother =
      new CosThetaIpoptInterface(raw_point2d, bounds);
 
  smoother->set_weight_cos_included_angle(weight_cos_included_angle);
  smoother->set_weight_anchor_points(weight_anchor_points);
  smoother->set_weight_length(weight_length);
  smoother->set_automatic_differentiation_flag(use_automatic_differentiation);
 
  Ipopt::SmartPtr<Ipopt::TNLP> problem = smoother;
 
  // Create an instance of the IpoptApplication
  Ipopt::SmartPtr<Ipopt::IpoptApplication> app = IpoptApplicationFactory();
 
  app->Options()->SetIntegerValue("print_level", static_cast<int>(print_level));
  app->Options()->SetIntegerValue("max_iter",
                                  static_cast<int>(max_num_of_iterations));
  app->Options()->SetIntegerValue(
      "acceptable_iter", static_cast<int>(acceptable_num_of_iterations));
  app->Options()->SetNumericValue("tol", tol);
  app->Options()->SetNumericValue("acceptable_tol", acceptable_tol);
 
  Ipopt::ApplicationReturnStatus status = app->Initialize();
  if (status != Ipopt::Solve_Succeeded) {
    AERROR << "*** Error during initialization!";
    return false;
  }
 
  status = app->OptimizeTNLP(problem);
 
  if (status == Ipopt::Solve_Succeeded ||
      status == Ipopt::Solved_To_Acceptable_Level) {
    // Retrieve some statistics about the solve
    Ipopt::Index iter_count = app->Statistics()->IterationCount();
    ADEBUG << "*** The problem solved in " << iter_count << " iterations!";
  } else {
    AERROR << "Solver fails with return code: " << static_cast<int>(status);
    return false;
  }
  smoother->get_optimization_results(opt_x, opt_y);
  return true;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/math/discretized_points_smoothing/cos_theta_smoother.h
• modules/planning/planning_base/math/discretized_points_smoothing/cos_theta_smoother.cc