apollo::planning::CubicPolynomialCurve1d类 参考

#include <cubic_polynomial_curve1d.h>

类 apollo::planning::CubicPolynomialCurve1d 继承关系图:

apollo::planning::CubicPolynomialCurve1d 的协作图:

Public 成员函数
	CubicPolynomialCurve1d ()=default
virtual	~CubicPolynomialCurve1d ()=default
	CubicPolynomialCurve1d (const std::array< double, 3 > &start, const double end, const double param)
	CubicPolynomialCurve1d (const double x0, const double dx0, const double ddx0, const double x1, const double param)
	x0 is the value when f(x = 0); dx0 is the value when f'(x = 0); ddx0 is the value when f''(x = 0); f(x = param) = x1
void	DerivedFromQuarticCurve (const PolynomialCurve1d &other)
double	Evaluate (const std::uint32_t order, const double p) const override
double	ParamLength () const override
std::string	ToString () const override
double	Coef (const size_t order) const override
size_t	Order () const override
Public 成员函数 继承自 apollo::planning::PolynomialCurve1d
	PolynomialCurve1d ()=default
virtual	~PolynomialCurve1d ()=default
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

额外继承的成员函数
Protected 属性 继承自 apollo::planning::PolynomialCurve1d
double	param_ = 0.0

详细描述

在文件 cubic_polynomial_curve1d.h 第 31 行定义.

构造及析构函数说明

CubicPolynomialCurve1d() [1/3]

apollo::planning::CubicPolynomialCurve1d::CubicPolynomialCurve1d ( )

default

~CubicPolynomialCurve1d()

virtual apollo::planning::CubicPolynomialCurve1d::~CubicPolynomialCurve1d ( )

virtualdefault

CubicPolynomialCurve1d() [2/3]

apollo::planning::CubicPolynomialCurve1d::CubicPolynomialCurve1d	(	const std::array< double, 3 > &	start,
		const double	end,
		const double	param
	)

在文件 cubic_polynomial_curve1d.cc 第 31 行定义.

    : CubicPolynomialCurve1d(start[0], start[1], start[2], end, param) {}

CubicPolynomialCurve1d() [3/3]

apollo::planning::CubicPolynomialCurve1d::CubicPolynomialCurve1d	(	const double	x0,
		const double	dx0,
		const double	ddx0,
		const double	x1,
		const double	param
	)

x0 is the value when f(x = 0); dx0 is the value when f'(x = 0); ddx0 is the value when f''(x = 0); f(x = param) = x1

在文件 cubic_polynomial_curve1d.cc 第 35 行定义.

                                                                   {
  ComputeCoefficients(x0, dx0, ddx0, x1, param);
  param_ = param;
  start_condition_[0] = x0;
  start_condition_[1] = dx0;
  start_condition_[2] = ddx0;
  end_condition_ = x1;
}

成员函数说明

Coef()

double apollo::planning::CubicPolynomialCurve1d::Coef ( const size_t  order ) const

overridevirtual

实现了 apollo::planning::PolynomialCurve1d.

在文件 cubic_polynomial_curve1d.cc 第 95 行定义.

                                                            {
  CHECK_GT(4U, order);
  return coef_[order];
}

DerivedFromQuarticCurve()

void apollo::planning::CubicPolynomialCurve1d::DerivedFromQuarticCurve

(

const PolynomialCurve1d &

other

)

在文件 cubic_polynomial_curve1d.cc 第 48 行定义.

                                    {
  CHECK_EQ(other.Order(), 4U);
  param_ = other.ParamLength();
  for (size_t i = 1; i < 5; ++i) {
    coef_[i - 1] = other.Coef(i) * static_cast<double>(i);
  }
}

Evaluate()

double apollo::planning::CubicPolynomialCurve1d::Evaluate ( const std::uint32_t  order, const double  p  ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 cubic_polynomial_curve1d.cc 第 57 行定义.

                                                              {
  switch (order) {
    case 0: {
      return ((coef_[3] * p + coef_[2]) * p + coef_[1]) * p + coef_[0];
    }
    case 1: {
      return (3.0 * coef_[3] * p + 2.0 * coef_[2]) * p + coef_[1];
    }
    case 2: {
      return 6.0 * coef_[3] * p + 2.0 * coef_[2];
    }
    case 3: {
      return 6.0 * coef_[3];
    }
    default:
      return 0.0;
  }
}

Order()

size_t apollo::planning::CubicPolynomialCurve1d::Order ( ) const

inlineoverridevirtual

实现了 apollo::planning::PolynomialCurve1d.

在文件 cubic_polynomial_curve1d.h 第 57 行定义.

{ return 3; }

ParamLength()

double apollo::planning::CubicPolynomialCurve1d::ParamLength ( ) const

inlineoverridevirtual

实现了 apollo::planning::Curve1d.

在文件 cubic_polynomial_curve1d.h 第 52 行定义.

{ return param_; }

ToString()

std::string apollo::planning::CubicPolynomialCurve1d::ToString ( ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 cubic_polynomial_curve1d.cc 第 77 行定义.

                                                 {
  return absl::StrCat(absl::StrJoin(coef_, "\t"), param_, "\n");
}

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该类的文档由以下文件生成:

• modules/planning/planning_base/math/curve1d/cubic_polynomial_curve1d.h
• modules/planning/planning_base/math/curve1d/cubic_polynomial_curve1d.cc