apollo::planning::EndConditionSampler类 参考

#include <end_condition_sampler.h>

apollo::planning::EndConditionSampler 的协作图:

Public 成员函数
	EndConditionSampler (const std::array< double, 3 > &init_s, const std::array< double, 3 > &init_d, std::shared_ptr< PathTimeGraph > ptr_path_time_graph, std::shared_ptr< PredictionQuerier > ptr_prediction_querier)
virtual	~EndConditionSampler ()=default
std::vector< std::pair< std::array< double, 3 >, double > >	SampleLatEndConditions () const
std::vector< std::pair< std::array< double, 3 >, double > >	SampleLonEndConditionsForCruising (const double ref_cruise_speed) const
std::vector< std::pair< std::array< double, 3 >, double > >	SampleLonEndConditionsForStopping (const double ref_stop_point) const
std::vector< std::pair< std::array< double, 3 >, double > >	SampleLonEndConditionsForPathTimePoints () const

详细描述

在文件 end_condition_sampler.h 第 44 行定义.

构造及析构函数说明

EndConditionSampler()

apollo::planning::EndConditionSampler::EndConditionSampler	(	const std::array< double, 3 > &	init_s,
		const std::array< double, 3 > &	init_d,
		std::shared_ptr< PathTimeGraph >	ptr_path_time_graph,
		std::shared_ptr< PredictionQuerier >	ptr_prediction_querier
	)

在文件 end_condition_sampler.cc 第 34 行定义.

    : init_s_(init_s),
      init_d_(init_d),
      feasible_region_(init_s),
      ptr_path_time_graph_(std::move(ptr_path_time_graph)),
      ptr_prediction_querier_(std::move(ptr_prediction_querier)) {}

~EndConditionSampler()

virtual apollo::planning::EndConditionSampler::~EndConditionSampler ( )

virtualdefault

成员函数说明

SampleLatEndConditions()

std::vector< Condition > apollo::planning::EndConditionSampler::SampleLatEndConditions

(

)

const

在文件 end_condition_sampler.cc 第 44 行定义.

                                                                       {
  std::vector<Condition> end_d_conditions;
  std::array<double, 3> end_d_candidates = {0.0, -0.5, 0.5};
  std::array<double, 4> end_s_candidates = {10.0, 20.0, 40.0, 80.0};
 
  for (const auto& s : end_s_candidates) {
    for (const auto& d : end_d_candidates) {
      State end_d_state = {d, 0.0, 0.0};
      end_d_conditions.emplace_back(end_d_state, s);
    }
  }
  return end_d_conditions;
}

SampleLonEndConditionsForCruising()

std::vector< Condition > apollo::planning::EndConditionSampler::SampleLonEndConditionsForCruising

(

const double

ref_cruise_speed

)

const

在文件 end_condition_sampler.cc 第 58 行定义.

                                         {
  CHECK_GT(FLAGS_num_velocity_sample, 1U);
 
  // time interval is one second plus the last one 0.01
  static constexpr size_t num_of_time_samples = 9;
  std::array<double, num_of_time_samples> time_samples;
  for (size_t i = 1; i < num_of_time_samples; ++i) {
    auto ratio =
        static_cast<double>(i) / static_cast<double>(num_of_time_samples - 1);
    time_samples[i] = FLAGS_trajectory_time_length * ratio;
  }
  time_samples[0] = FLAGS_polynomial_minimal_param;
 
  std::vector<Condition> end_s_conditions;
  for (const auto& time : time_samples) {
    double v_upper = std::min(feasible_region_.VUpper(time), ref_cruise_speed);
    double v_lower = feasible_region_.VLower(time);
 
    State lower_end_s = {0.0, v_lower, 0.0};
    end_s_conditions.emplace_back(lower_end_s, time);
 
    State upper_end_s = {0.0, v_upper, 0.0};
    end_s_conditions.emplace_back(upper_end_s, time);
 
    double v_range = v_upper - v_lower;
    // Number of sample velocities
    size_t num_of_mid_points =
        std::min(static_cast<size_t>(FLAGS_num_velocity_sample - 2),
                 static_cast<size_t>(v_range / FLAGS_min_velocity_sample_gap));
 
    if (num_of_mid_points > 0) {
      double velocity_seg =
          v_range / static_cast<double>(num_of_mid_points + 1);
      for (size_t i = 1; i <= num_of_mid_points; ++i) {
        State end_s = {0.0, v_lower + velocity_seg * static_cast<double>(i),
                       0.0};
        end_s_conditions.emplace_back(end_s, time);
      }
    }
  }
  return end_s_conditions;
}

SampleLonEndConditionsForPathTimePoints()

std::vector< Condition > apollo::planning::EndConditionSampler::SampleLonEndConditionsForPathTimePoints

(

)

const

在文件 end_condition_sampler.cc 第 123 行定义.

                                                                   {
  std::vector<Condition> end_s_conditions;
 
  std::vector<SamplePoint> sample_points = QueryPathTimeObstacleSamplePoints();
  for (const SamplePoint& sample_point : sample_points) {
    if (sample_point.path_time_point.t() < FLAGS_polynomial_minimal_param) {
      continue;
    }
    double s = sample_point.path_time_point.s();
    double v = sample_point.ref_v;
    double t = sample_point.path_time_point.t();
    if (s > feasible_region_.SUpper(t) || s < feasible_region_.SLower(t)) {
      continue;
    }
    State end_state = {s, v, 0.0};
    end_s_conditions.emplace_back(end_state, t);
  }
  return end_s_conditions;
}

SampleLonEndConditionsForStopping()

std::vector< Condition > apollo::planning::EndConditionSampler::SampleLonEndConditionsForStopping

(

const double

ref_stop_point

)

const

在文件 end_condition_sampler.cc 第 102 行定义.

                                       {
  // time interval is one second plus the last one 0.01
  static constexpr size_t num_of_time_samples = 9;
  std::array<double, num_of_time_samples> time_samples;
  for (size_t i = 1; i < num_of_time_samples; ++i) {
    auto ratio =
        static_cast<double>(i) / static_cast<double>(num_of_time_samples - 1);
    time_samples[i] = FLAGS_trajectory_time_length * ratio;
  }
  time_samples[0] = FLAGS_polynomial_minimal_param;
 
  std::vector<Condition> end_s_conditions;
  for (const auto& time : time_samples) {
    State end_s = {std::max(init_s_[0], ref_stop_point), 0.0, 0.0};
    end_s_conditions.emplace_back(end_s, time);
  }
  return end_s_conditions;
}

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该类的文档由以下文件生成:

• modules/planning/planners/lattice/trajectory_generation/end_condition_sampler.h
• modules/planning/planners/lattice/trajectory_generation/end_condition_sampler.cc