apollo::planning::LateralQPOptimizer类 参考

#include <lateral_qp_optimizer.h>

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

apollo::planning::LateralQPOptimizer 的协作图:

Public 成员函数
	LateralQPOptimizer ()=default
virtual	~LateralQPOptimizer ()=default
virtual bool	optimize (const std::array< double, 3 > &d_state, const double delta_s, const std::vector< std::pair< double, double > > &d_bounds)=0
virtual PiecewiseJerkTrajectory1d	GetOptimalTrajectory () const
virtual std::vector< common::FrenetFramePoint >	GetFrenetFramePath () const

Protected 属性
double	delta_s_ = FLAGS_default_delta_s_lateral_optimization
std::vector< double >	opt_d_
std::vector< double >	opt_d_prime_
std::vector< double >	opt_d_pprime_

详细描述

在文件 lateral_qp_optimizer.h 第 34 行定义.

构造及析构函数说明

LateralQPOptimizer()

apollo::planning::LateralQPOptimizer::LateralQPOptimizer ( )

default

~LateralQPOptimizer()

virtual apollo::planning::LateralQPOptimizer::~LateralQPOptimizer ( )

virtualdefault

成员函数说明

GetFrenetFramePath()

std::vector< common::FrenetFramePoint > apollo::planning::LateralQPOptimizer::GetFrenetFramePath ( ) const

virtual

在文件 lateral_qp_optimizer.cc 第 37 行定义.

          {
  std::vector<common::FrenetFramePoint> frenet_frame_path;
  double accumulated_s = 0.0;
  for (size_t i = 0; i < opt_d_.size(); ++i) {
    common::FrenetFramePoint frenet_frame_point;
    frenet_frame_point.set_s(accumulated_s);
    frenet_frame_point.set_l(opt_d_[i]);
    frenet_frame_point.set_dl(opt_d_prime_[i]);
    frenet_frame_point.set_ddl(opt_d_pprime_[i]);
    frenet_frame_path.push_back(std::move(frenet_frame_point));
    accumulated_s += delta_s_;
  }
  return frenet_frame_path;
}

GetOptimalTrajectory()

PiecewiseJerkTrajectory1d apollo::planning::LateralQPOptimizer::GetOptimalTrajectory ( ) const

virtual

在文件 lateral_qp_optimizer.cc 第 24 行定义.

                                                                         {
  ACHECK(!opt_d_.empty() && !opt_d_prime_.empty() && !opt_d_pprime_.empty());
 
  PiecewiseJerkTrajectory1d optimal_trajectory(
      opt_d_.front(), opt_d_prime_.front(), opt_d_pprime_.front());
 
  for (size_t i = 1; i < opt_d_.size(); ++i) {
    double j = (opt_d_pprime_[i] - opt_d_pprime_[i - 1]) / delta_s_;
    optimal_trajectory.AppendSegment(j, delta_s_);
  }
  return optimal_trajectory;
}

optimize()

virtual bool apollo::planning::LateralQPOptimizer::optimize ( const std::array< double, 3 > &  d_state, const double  delta_s, const std::vector< std::pair< double, double > > &  d_bounds  )

pure virtual

在 apollo::planning::LateralOSQPOptimizer 内被实现.

类成员变量说明

delta_s_

double apollo::planning::LateralQPOptimizer::delta_s_ = FLAGS_default_delta_s_lateral_optimization

protected

在文件 lateral_qp_optimizer.h 第 48 行定义.

opt_d_

std::vector<double> apollo::planning::LateralQPOptimizer::opt_d_

protected

在文件 lateral_qp_optimizer.h 第 50 行定义.

opt_d_pprime_

std::vector<double> apollo::planning::LateralQPOptimizer::opt_d_pprime_

protected

在文件 lateral_qp_optimizer.h 第 54 行定义.

opt_d_prime_

std::vector<double> apollo::planning::LateralQPOptimizer::opt_d_prime_

protected

在文件 lateral_qp_optimizer.h 第 52 行定义.

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该类的文档由以下文件生成:

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