apollo::planning::DiscretizedTrajectory类 参考

#include <discretized_trajectory.h>

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

apollo::planning::DiscretizedTrajectory 的协作图:

Public 成员函数
	DiscretizedTrajectory ()=default
	DiscretizedTrajectory (const ADCTrajectory &trajectory)
	Create a DiscretizedTrajectory based on protobuf message
	DiscretizedTrajectory (const std::vector< common::TrajectoryPoint > &trajectory_points)
void	SetTrajectoryPoints (const std::vector< common::TrajectoryPoint > &trajectory_points)
virtual	~DiscretizedTrajectory ()=default
virtual common::TrajectoryPoint	StartPoint () const
virtual double	GetTemporalLength () const
virtual double	GetSpatialLength () const
virtual common::TrajectoryPoint	Evaluate (const double relative_time) const
virtual size_t	QueryLowerBoundPoint (const double relative_time, const double epsilon=1.0e-5) const
virtual size_t	QueryNearestPoint (const common::math::Vec2d &position) const
size_t	QueryNearestPointWithBuffer (const common::math::Vec2d &position, const double buffer) const
virtual void	AppendTrajectoryPoint (const common::TrajectoryPoint &trajectory_point)
void	PrependTrajectoryPoints (const std::vector< common::TrajectoryPoint > &trajectory_points)
const common::TrajectoryPoint &	TrajectoryPointAt (const size_t index) const
size_t	NumOfPoints () const
virtual void	Clear ()
bool	IsReversed () const
void	SetIsReversed (const bool flag)

详细描述

在文件 discretized_trajectory.h 第 33 行定义.

构造及析构函数说明

DiscretizedTrajectory() [1/3]

apollo::planning::DiscretizedTrajectory::DiscretizedTrajectory ( )

default

DiscretizedTrajectory() [2/3]

apollo::planning::DiscretizedTrajectory::DiscretizedTrajectory ( const ADCTrajectory &  trajectory )

explicit

Create a DiscretizedTrajectory based on protobuf message

在文件 discretized_trajectory.cc 第 41 行定义.

                                                                            {
  assign(trajectory.trajectory_point().begin(),
         trajectory.trajectory_point().end());
}

DiscretizedTrajectory() [3/3]

apollo::planning::DiscretizedTrajectory::DiscretizedTrajectory ( const std::vector< common::TrajectoryPoint > &  trajectory_points )

explicit

在文件 discretized_trajectory.cc 第 34 行定义.

    : std::vector<TrajectoryPoint>(trajectory_points) {
  ACHECK(!trajectory_points.empty())
      << "trajectory_points should NOT be empty()";
}

~DiscretizedTrajectory()

virtual apollo::planning::DiscretizedTrajectory::~DiscretizedTrajectory ( )

virtualdefault

成员函数说明

AppendTrajectoryPoint()

void apollo::planning::DiscretizedTrajectory::AppendTrajectoryPoint ( const common::TrajectoryPoint &  trajectory_point )

virtual

在文件 discretized_trajectory.cc 第 114 行定义.

                                             {
  if (!empty()) {
    CHECK_GT(trajectory_point.relative_time(), back().relative_time());
  }
  push_back(trajectory_point);
}

Clear()

void apollo::planning::DiscretizedTrajectory::Clear ( )

inlinevirtual

在文件 discretized_trajectory.h 第 92 行定义.

{ clear(); }

Evaluate()

TrajectoryPoint apollo::planning::DiscretizedTrajectory::Evaluate ( const double  relative_time ) const

virtual

在文件 discretized_trajectory.cc 第 46 行定义.

                                      {
  auto comp = [](const TrajectoryPoint& p, const double relative_time) {
    return p.relative_time() < relative_time;
  };
 
  auto it_lower = std::lower_bound(begin(), end(), relative_time, comp);
 
  if (it_lower == begin()) {
    return front();
  } else if (it_lower == end()) {
    AWARN << "When evaluate trajectory, relative_time(" << relative_time
          << ") is too large";
    return back();
  }
  return common::math::InterpolateUsingLinearApproximation(
      *(it_lower - 1), *it_lower, relative_time);
}

GetSpatialLength()

double apollo::planning::DiscretizedTrajectory::GetSpatialLength ( ) const

virtual

在文件 discretized_trajectory.cc 第 140 行定义.

                                                     {
  if (empty()) {
    return 0.0;
  }
  return back().path_point().s() - front().path_point().s();
}

GetTemporalLength()

double apollo::planning::DiscretizedTrajectory::GetTemporalLength ( ) const

virtual

在文件 discretized_trajectory.cc 第 133 行定义.

                                                      {
  if (empty()) {
    return 0.0;
  }
  return back().relative_time() - front().relative_time();
}

IsReversed()

bool apollo::planning::DiscretizedTrajectory::IsReversed ( ) const

inline

在文件 discretized_trajectory.h 第 83 行定义.

{ return is_reversed_; }

NumOfPoints()

size_t apollo::planning::DiscretizedTrajectory::NumOfPoints ( ) const

inline

在文件 discretized_trajectory.h 第 90 行定义.

{ return size(); }

PrependTrajectoryPoints()

void apollo::planning::DiscretizedTrajectory::PrependTrajectoryPoints ( const std::vector< common::TrajectoryPoint > &  trajectory_points )

inline

在文件 discretized_trajectory.h 第 69 行定义.

                                                                 {
    if (!empty() && trajectory_points.size() > 1) {
      ACHECK(trajectory_points.back().relative_time() <
             front().relative_time());
    }
    insert(begin(), trajectory_points.begin(), trajectory_points.end());
  }

QueryLowerBoundPoint()

size_t apollo::planning::DiscretizedTrajectory::QueryLowerBoundPoint ( const double  relative_time, const double  epsilon = 1.0e-5  ) const

virtual

在文件 discretized_trajectory.cc 第 65 行定义.

                                                                               {
  ACHECK(!empty());
 
  if (relative_time >= back().relative_time()) {
    return size() - 1;
  }
  auto func = [&epsilon](const TrajectoryPoint& tp,
                         const double relative_time) {
    return tp.relative_time() + epsilon < relative_time;
  };
  auto it_lower = std::lower_bound(begin(), end(), relative_time, func);
  return std::distance(begin(), it_lower);
}

QueryNearestPoint()

size_t apollo::planning::DiscretizedTrajectory::QueryNearestPoint ( const common::math::Vec2d &  position ) const

virtual

在文件 discretized_trajectory.cc 第 80 行定义.

                                           {
  double dist_sqr_min = std::numeric_limits<double>::max();
  size_t index_min = 0;
  for (size_t i = 0; i < size(); ++i) {
    const common::math::Vec2d curr_point(data()[i].path_point().x(),
                                         data()[i].path_point().y());
 
    const double dist_sqr = curr_point.DistanceSquareTo(position);
    if (dist_sqr < dist_sqr_min) {
      dist_sqr_min = dist_sqr;
      index_min = i;
    }
  }
  return index_min;
}

QueryNearestPointWithBuffer()

size_t apollo::planning::DiscretizedTrajectory::QueryNearestPointWithBuffer	(	const common::math::Vec2d &	position,
		const double	buffer
	)		const

在文件 discretized_trajectory.cc 第 97 行定义.

                                                                {
  double dist_sqr_min = std::numeric_limits<double>::max();
  size_t index_min = 0;
  for (size_t i = 0; i < size(); ++i) {
    const common::math::Vec2d curr_point(data()[i].path_point().x(),
                                         data()[i].path_point().y());
 
    const double dist_sqr = curr_point.DistanceSquareTo(position);
    if (dist_sqr < dist_sqr_min + buffer) {
      dist_sqr_min = dist_sqr;
      index_min = i;
    }
  }
  return index_min;
}

SetIsReversed()

void apollo::planning::DiscretizedTrajectory::SetIsReversed ( const bool  flag )

inline

在文件 discretized_trajectory.h 第 84 行定义.

{ is_reversed_ = flag; }

SetTrajectoryPoints()

void apollo::planning::DiscretizedTrajectory::SetTrajectoryPoints

(

const std::vector< common::TrajectoryPoint > &

trajectory_points

)

StartPoint()

TrajectoryPoint apollo::planning::DiscretizedTrajectory::StartPoint ( ) const

virtual

在文件 discretized_trajectory.cc 第 128 行定义.

                                                        {
  ACHECK(!empty());
  return front();
}

TrajectoryPointAt()

const TrajectoryPoint & apollo::planning::DiscretizedTrajectory::TrajectoryPointAt

(

const size_t

index

)

const

在文件 discretized_trajectory.cc 第 122 行定义.

                              {
  CHECK_LT(index, NumOfPoints());
  return data()[index];
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/common/trajectory/discretized_trajectory.h
• modules/planning/planning_base/common/trajectory/discretized_trajectory.cc