apollo::planning::CurveMath类 参考

#include <curve_math.h>

apollo::planning::CurveMath 的协作图:

Public 成员函数
	CurveMath ()=delete

静态 Public 成员函数
static double	ComputeCurvature (const double dx, const double d2x, const double dy, const double d2y)
	Compute the curvature (kappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter.
static double	ComputeCurvatureDerivative (const double dx, const double d2x, const double d3x, const double dy, const double d2y, const double d3y)
	Compute the curvature change rate w.r.t.

详细描述

在文件 curve_math.h 第 26 行定义.

构造及析构函数说明

CurveMath()

apollo::planning::CurveMath::CurveMath ( )

delete

成员函数说明

ComputeCurvature()

double apollo::planning::CurveMath::ComputeCurvature ( const double  dx, const double  d2x, const double  dy, const double  d2y  )

static

Compute the curvature (kappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter.

参数

dx	dx / dt
d2x	d(dx) / dt
dy	dy / dt
d2y	d(dy) / dt

返回

the curvature

在文件 curve_math.cc 第 29 行定义.

                                                                      {
  const double a = dx * d2y - dy * d2x;
  auto norm_square = dx * dx + dy * dy;
  auto norm = std::sqrt(norm_square);
  const double b = norm * norm_square;
  return a / b;
}

ComputeCurvatureDerivative()

double apollo::planning::CurveMath::ComputeCurvatureDerivative ( const double  dx, const double  d2x, const double  d3x, const double  dy, const double  d2y, const double  d3y  )

static

Compute the curvature change rate w.r.t.

curve length (dkappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter.

参数

dx	dx / dt
d2x	d(dx) / dt
dy	dy / dt
d2y	d(dy) / dt
d3x	d(d2x) / dt
d3y	d(d2y) / dt

返回

the curvature change rate

在文件 curve_math.cc 第 38 行定义.

                                                               {
  const double a = dx * d2y - dy * d2x;
  const double b = dx * d3y - dy * d3x;
  const double c = dx * d2x + dy * d2y;
  const double d = dx * dx + dy * dy;
 
  return (b * d - 3.0 * a * c) / (d * d * d);
}

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该类的文档由以下文件生成:

• modules/planning/planning_base/math/curve_math.h
• modules/planning/planning_base/math/curve_math.cc