#include <frenet_frame_path.h>

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

apollo::planning::FrenetFramePath 的协作图:

Public 成员函数
	FrenetFramePath ()=default

	FrenetFramePath (std::vector< common::FrenetFramePoint > points)

double	Length () const

common::FrenetFramePoint	EvaluateByS (const double s) const

common::FrenetFramePoint	GetNearestPoint (const SLBoundary &sl) const
	Get the FrenetFramePoint that is within SLBoundary, or the one with smallest l() in SLBoundary's s range [start_s(), end_s()]

详细描述

在文件 frenet_frame_path.h 第 32 行定义.

构造及析构函数说明

◆ FrenetFramePath() [1/2]

apollo::planning::FrenetFramePath::FrenetFramePath ( )

default

◆ FrenetFramePath() [2/2]

apollo::planning::FrenetFramePath::FrenetFramePath ( std::vector< common::FrenetFramePoint > points )

explicit

在文件 frenet_frame_path.cc 第 33 行定义.

34 : std::vector<FrenetFramePoint>(std::move(points)) {}

成员函数说明

◆ EvaluateByS()

FrenetFramePoint apollo::planning::FrenetFramePath::EvaluateByS ( const double s ) const

在文件 frenet_frame_path.cc 第 73 行定义.

                                                                  {
  CHECK_GT(size(), 1U);
  auto it_lower = std::lower_bound(begin(), end(), s, LowerBoundComparator);
  if (it_lower == begin()) {
    return front();
  } else if (it_lower == end()) {
    return back();
  }
  const auto& p0 = *(it_lower - 1);
  const auto s0 = p0.s();
  const auto& p1 = *it_lower;
  const auto s1 = p1.s();
 
  FrenetFramePoint p;
  p.set_s(s);
  p.set_l(common::math::lerp(p0.l(), s0, p1.l(), s1, s));
  p.set_dl(common::math::lerp(p0.dl(), s0, p1.dl(), s1, s));
  p.set_ddl(common::math::lerp(p0.ddl(), s0, p1.ddl(), s1, s));
  return p;
}

◆ GetNearestPoint()

FrenetFramePoint apollo::planning::FrenetFramePath::GetNearestPoint ( const SLBoundary & sl ) const

Get the FrenetFramePoint that is within SLBoundary, or the one with smallest l() in SLBoundary's s range [start_s(), end_s()]

在文件 frenet_frame_path.cc 第 43 行定义.

                                                                            {
  auto it_lower =
      std::lower_bound(begin(), end(), sl.start_s(), LowerBoundComparator);
  if (it_lower == end()) {
    return back();
  }
  auto it_upper =
      std::upper_bound(it_lower, end(), sl.end_s(), UpperBoundComparator);
  double min_dist = std::numeric_limits<double>::max();
  auto min_it = it_upper;
  for (auto it = it_lower; it != it_upper; ++it) {
    if (it->l() >= sl.start_l() && it->l() <= sl.end_l()) {
      return *it;
    } else if (it->l() > sl.end_l()) {
      double diff = it->l() - sl.end_l();
      if (diff < min_dist) {
        min_dist = diff;
        min_it = it;
      }
    } else {
      double diff = sl.start_l() - it->l();
      if (diff < min_dist) {
        min_dist = diff;
        min_it = it;
      }
    }
  }
  return *min_it;
}

◆ Length()

double apollo::planning::FrenetFramePath::Length ( ) const

在文件 frenet_frame_path.cc 第 36 行定义.

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

该类的文档由以下文件生成:

modules/planning/planning_base/common/path/frenet_frame_path.h
modules/planning/planning_base/common/path/frenet_frame_path.cc

Public 成员函数