apollo::planning::DiscretePointsReferenceLineSmoother类 参考

#include <discrete_points_reference_line_smoother.h>

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

apollo::planning::DiscretePointsReferenceLineSmoother 的协作图:

Public 成员函数
	DiscretePointsReferenceLineSmoother (const ReferenceLineSmootherConfig &config)
virtual	~DiscretePointsReferenceLineSmoother ()=default
bool	Smooth (const ReferenceLine &raw_reference_line, ReferenceLine *const smoothed_reference_line) override
	Smooth a given reference line
void	SetAnchorPoints (const std::vector< AnchorPoint > &) override
	Smoothing constraints
Public 成员函数 继承自 apollo::planning::ReferenceLineSmoother
	ReferenceLineSmoother (const ReferenceLineSmootherConfig &config)
virtual	~ReferenceLineSmoother ()=default

额外继承的成员函数
Protected 属性 继承自 apollo::planning::ReferenceLineSmoother
ReferenceLineSmootherConfig	config_

详细描述

在文件 discrete_points_reference_line_smoother.h 第 31 行定义.

构造及析构函数说明

DiscretePointsReferenceLineSmoother()

apollo::planning::DiscretePointsReferenceLineSmoother::DiscretePointsReferenceLineSmoother ( const ReferenceLineSmootherConfig &  config )

explicit

在文件 discrete_points_reference_line_smoother.cc 第 32 行定义.

    : ReferenceLineSmoother(config) {}

~DiscretePointsReferenceLineSmoother()

virtual apollo::planning::DiscretePointsReferenceLineSmoother::~DiscretePointsReferenceLineSmoother ( )

virtualdefault

成员函数说明

SetAnchorPoints()

void apollo::planning::DiscretePointsReferenceLineSmoother::SetAnchorPoints ( const std::vector< AnchorPoint > &  achor_points )

overridevirtual

Smoothing constraints

实现了 apollo::planning::ReferenceLineSmoother.

在文件 discrete_points_reference_line_smoother.cc 第 176 行定义.

                                                 {
  CHECK_GT(anchor_points.size(), 1U);
  anchor_points_ = anchor_points;
}

Smooth()

bool apollo::planning::DiscretePointsReferenceLineSmoother::Smooth ( const ReferenceLine &  , ReferenceLine *const    )

overridevirtual

Smooth a given reference line

实现了 apollo::planning::ReferenceLineSmoother.

在文件 discrete_points_reference_line_smoother.cc 第 36 行定义.

                                                  {
  std::vector<std::pair<double, double>> raw_point2d;
  std::vector<double> anchorpoints_lateralbound;
 
  for (const auto& anchor_point : anchor_points_) {
    raw_point2d.emplace_back(anchor_point.path_point.x(),
                             anchor_point.path_point.y());
    anchorpoints_lateralbound.emplace_back(anchor_point.lateral_bound);
  }
 
  // fix front and back points to avoid end states deviate from the center of
  // road
  anchorpoints_lateralbound.front() = 0.0;
  anchorpoints_lateralbound.back() = 0.0;
 
  NormalizePoints(&raw_point2d);
 
  bool status = false;
 
  const auto& smoothing_method = config_.discrete_points().smoothing_method();
  std::vector<std::pair<double, double>> smoothed_point2d;
  switch (smoothing_method) {
    case DiscretePointsSmootherConfig::COS_THETA_SMOOTHING:
      status = CosThetaSmooth(raw_point2d, anchorpoints_lateralbound,
                              &smoothed_point2d);
      break;
    case DiscretePointsSmootherConfig::FEM_POS_DEVIATION_SMOOTHING:
      status = FemPosSmooth(raw_point2d, anchorpoints_lateralbound,
                            &smoothed_point2d);
      break;
    default:
      AERROR << "Smoother type not defined";
      return false;
  }
 
  if (!status) {
    AERROR << "discrete_points reference line smoother fails";
    return false;
  }
 
  DeNormalizePoints(&smoothed_point2d);
 
  std::vector<ReferencePoint> ref_points;
  GenerateRefPointProfile(raw_reference_line, smoothed_point2d, &ref_points);
 
  ReferencePoint::RemoveDuplicates(&ref_points);
 
  if (ref_points.size() < 2) {
    AERROR << "Fail to generate smoothed reference line.";
    return false;
  }
 
  *smoothed_reference_line = ReferenceLine(ref_points);
  return true;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/reference_line/discrete_points_reference_line_smoother.h
• modules/planning/planning_base/reference_line/discrete_points_reference_line_smoother.cc