apollo::planning::LatticeTrajectory1d类 参考

#include <lattice_trajectory1d.h>

类 apollo::planning::LatticeTrajectory1d 继承关系图:

apollo::planning::LatticeTrajectory1d 的协作图:

Public 成员函数
	LatticeTrajectory1d (std::shared_ptr< Curve1d > ptr_trajectory1d)
virtual	~LatticeTrajectory1d ()=default
virtual double	Evaluate (const std::uint32_t order, const double param) const
virtual double	ParamLength () const
virtual std::string	ToString () const
bool	has_target_position () const
bool	has_target_velocity () const
bool	has_target_time () const
double	target_position () const
double	target_velocity () const
double	target_time () const
void	set_target_position (double target_position)
void	set_target_velocity (double target_velocity)
void	set_target_time (double target_time)
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

详细描述

在文件 lattice_trajectory1d.h 第 31 行定义.

构造及析构函数说明

LatticeTrajectory1d()

apollo::planning::LatticeTrajectory1d::LatticeTrajectory1d ( std::shared_ptr< Curve1d >  ptr_trajectory1d )

explicit

在文件 lattice_trajectory1d.cc 第 28 行定义.

                                             {
  ptr_trajectory1d_ = ptr_trajectory1d;
}

~LatticeTrajectory1d()

virtual apollo::planning::LatticeTrajectory1d::~LatticeTrajectory1d ( )

virtualdefault

成员函数说明

Evaluate()

double apollo::planning::LatticeTrajectory1d::Evaluate ( const std::uint32_t  order, const double  param  ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 lattice_trajectory1d.cc 第 33 行定义.

                                                               {
  double param_length = ptr_trajectory1d_->ParamLength();
  if (param < param_length) {
    return ptr_trajectory1d_->Evaluate(order, param);
  }
 
  // do constant acceleration extrapolation;
  // to align all the trajectories with time.
  double p = ptr_trajectory1d_->Evaluate(0, param_length);
  double v = ptr_trajectory1d_->Evaluate(1, param_length);
  double a = ptr_trajectory1d_->Evaluate(2, param_length);
 
  double t = param - param_length;
 
  switch (order) {
    case 0:
      return p + v * t + 0.5 * a * t * t;
    case 1:
      return v + a * t;
    case 2:
      return a;
    default:
      return 0.0;
  }
}

has_target_position()

bool apollo::planning::LatticeTrajectory1d::has_target_position

(

)

const

在文件 lattice_trajectory1d.cc 第 68 行定义.

                                                    {
  return has_target_position_;
}

has_target_time()

bool apollo::planning::LatticeTrajectory1d::has_target_time

(

)

const

在文件 lattice_trajectory1d.cc 第 76 行定义.

{ return has_target_time_; }

has_target_velocity()

bool apollo::planning::LatticeTrajectory1d::has_target_velocity

(

)

const

在文件 lattice_trajectory1d.cc 第 72 行定义.

                                                    {
  return has_target_velocity_;
}

ParamLength()

double apollo::planning::LatticeTrajectory1d::ParamLength ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 lattice_trajectory1d.cc 第 60 行定义.

                                              {
  return ptr_trajectory1d_->ParamLength();
}

set_target_position()

void apollo::planning::LatticeTrajectory1d::set_target_position

(

double

target_position

)

在文件 lattice_trajectory1d.cc 第 93 行定义.

                                                                    {
  target_position_ = target_position;
  has_target_position_ = true;
}

set_target_time()

void apollo::planning::LatticeTrajectory1d::set_target_time

(

double

target_time

)

在文件 lattice_trajectory1d.cc 第 103 行定义.

                                                            {
  target_time_ = target_time;
  has_target_time_ = true;
}

set_target_velocity()

void apollo::planning::LatticeTrajectory1d::set_target_velocity

(

double

target_velocity

)

在文件 lattice_trajectory1d.cc 第 98 行定义.

                                                                    {
  target_velocity_ = target_velocity;
  has_target_velocity_ = true;
}

target_position()

double apollo::planning::LatticeTrajectory1d::target_position

(

)

const

在文件 lattice_trajectory1d.cc 第 78 行定义.

                                                  {
  ACHECK(has_target_position_);
  return target_position_;
}

target_time()

double apollo::planning::LatticeTrajectory1d::target_time

(

)

const

在文件 lattice_trajectory1d.cc 第 88 行定义.

                                              {
  ACHECK(has_target_time_);
  return target_time_;
}

target_velocity()

double apollo::planning::LatticeTrajectory1d::target_velocity

(

)

const

在文件 lattice_trajectory1d.cc 第 83 行定义.

                                                  {
  ACHECK(has_target_velocity_);
  return target_velocity_;
}

ToString()

std::string apollo::planning::LatticeTrajectory1d::ToString ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 lattice_trajectory1d.cc 第 64 行定义.

                                              {
  return ptr_trajectory1d_->ToString();
}

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该类的文档由以下文件生成:

• modules/planning/planners/lattice/trajectory_generation/lattice_trajectory1d.h
• modules/planning/planners/lattice/trajectory_generation/lattice_trajectory1d.cc