apollo::planning::Node3d类 参考

#include <node3d.h>

apollo::planning::Node3d 的协作图:

Public 成员函数
	Node3d (const double x, const double y, const double phi)
	Node3d (const double x, const double y, const double phi, const std::vector< double > &XYbounds, const PlannerOpenSpaceConfig &open_space_conf)
	Node3d (const std::vector< double > &traversed_x, const std::vector< double > &traversed_y, const std::vector< double > &traversed_phi, const std::vector< double > &XYbounds, const PlannerOpenSpaceConfig &open_space_conf)
virtual	~Node3d ()=default
double	GetCost () const
double	GetTrajCost () const
double	GetHeuCost () const
int	GetGridX () const
int	GetGridY () const
double	GetX () const
double	GetY () const
double	GetPhi () const
bool	operator== (const Node3d &right) const
const std::string &	GetIndex () const
size_t	GetStepSize () const
bool	GetDirec () const
double	GetSteer () const
std::shared_ptr< Node3d >	GetPreNode () const
const std::vector< double > &	GetXs () const
const std::vector< double > &	GetYs () const
const std::vector< double > &	GetPhis () const
const double &	GetTravelDist () const
void	SetPre (std::shared_ptr< Node3d > pre_node)
void	SetDirec (bool direction)
void	SetTrajCost (double cost)
void	SetHeuCost (double cost)
void	SetSteer (double steering)
void	SetTravelDist (double dist)
	Node3d (const double x, const double y, const double phi, const std::vector< double > &XYbounds, const WarmStartConfig &warm_start_conf)
	Node3d (const std::vector< double > &traversed_x, const std::vector< double > &traversed_y, const std::vector< double > &traversed_phi, const std::vector< double > &XYbounds, const WarmStartConfig &warm_start_conf)

静态 Public 成员函数
static apollo::common::math::Box2d	GetBoundingBox (const common::VehicleParam &vehicle_param_, const double x, const double y, const double phi)

详细描述

在文件 node3d.h 第 35 行定义.

构造及析构函数说明

Node3d() [1/5]

apollo::planning::Node3d::Node3d	(	const double	x,
		const double	y,
		const double	phi
	)

在文件 node3d.cc 第 32 行定义.

                                             {
    x_ = x;
    y_ = y;
    phi_ = phi;
}

Node3d() [2/5]

apollo::planning::Node3d::Node3d	(	const double	x,
		const double	y,
		const double	phi,
		const std::vector< double > &	XYbounds,
		const PlannerOpenSpaceConfig &	open_space_conf
	)

在文件 node3d.cc 第 38 行定义.

                                                       {
    CHECK_EQ(XYbounds.size(), 4U) << "XYbounds size is not 4, but" << XYbounds.size();
 
    x_ = x;
    y_ = y;
    phi_ = phi;
 
    x_grid_ = static_cast<int>((x_ - XYbounds[0]) / open_space_conf.warm_start_config().xy_grid_resolution());
    y_grid_ = static_cast<int>((y_ - XYbounds[2]) / open_space_conf.warm_start_config().xy_grid_resolution());
    phi_grid_ = static_cast<int>((phi_ - (-M_PI)) / open_space_conf.warm_start_config().phi_grid_resolution());
 
    traversed_x_.push_back(x);
    traversed_y_.push_back(y);
    traversed_phi_.push_back(phi);
 
    index_ = ComputeStringIndex(x_grid_, y_grid_, phi_grid_);
}

Node3d() [3/5]

apollo::planning::Node3d::Node3d	(	const std::vector< double > &	traversed_x,
		const std::vector< double > &	traversed_y,
		const std::vector< double > &	traversed_phi,
		const std::vector< double > &	XYbounds,
		const PlannerOpenSpaceConfig &	open_space_conf
	)

在文件 node3d.cc 第 61 行定义.

                                                       {
    CHECK_EQ(XYbounds.size(), 4U) << "XYbounds size is not 4, but" << XYbounds.size();
    CHECK_EQ(traversed_x.size(), traversed_y.size());
    CHECK_EQ(traversed_x.size(), traversed_phi.size());
 
    x_ = traversed_x.back();
    y_ = traversed_y.back();
    phi_ = traversed_phi.back();
 
    // XYbounds in xmin, xmax, ymin, ymax
    x_grid_ = static_cast<int>((x_ - XYbounds[0]) / open_space_conf.warm_start_config().xy_grid_resolution());
    y_grid_ = static_cast<int>((y_ - XYbounds[2]) / open_space_conf.warm_start_config().xy_grid_resolution());
    phi_grid_ = static_cast<int>((phi_ - (-M_PI)) / open_space_conf.warm_start_config().phi_grid_resolution());
 
    traversed_x_ = traversed_x;
    traversed_y_ = traversed_y;
    traversed_phi_ = traversed_phi;
 
    index_ = ComputeStringIndex(x_grid_, y_grid_, phi_grid_);
    step_size_ = traversed_x.size();
}

~Node3d()

virtual apollo::planning::Node3d::~Node3d ( )

virtualdefault

Node3d() [4/5]

apollo::planning::Node3d::Node3d	(	const double	x,
		const double	y,
		const double	phi,
		const std::vector< double > &	XYbounds,
		const WarmStartConfig &	warm_start_conf
	)

在文件 node3d.cc 第 88 行定义.

                                                {
    CHECK_EQ(XYbounds.size(), 4U) << "XYbounds size is not 4, but" << XYbounds.size();
 
    x_ = x;
    y_ = y;
    phi_ = phi;
 
    x_grid_ = static_cast<int>((x_ - XYbounds[0]) / warm_start_conf.xy_grid_resolution());
    y_grid_ = static_cast<int>((y_ - XYbounds[2]) / warm_start_conf.xy_grid_resolution());
    phi_grid_ = static_cast<int>((phi_ - (-M_PI)) / warm_start_conf.phi_grid_resolution());
 
    traversed_x_.push_back(x);
    traversed_y_.push_back(y);
    traversed_phi_.push_back(phi);
 
    index_ = ComputeStringIndex(x_grid_, y_grid_, phi_grid_);
}

Node3d() [5/5]

apollo::planning::Node3d::Node3d	(	const std::vector< double > &	traversed_x,
		const std::vector< double > &	traversed_y,
		const std::vector< double > &	traversed_phi,
		const std::vector< double > &	XYbounds,
		const WarmStartConfig &	warm_start_conf
	)

在文件 node3d.cc 第 111 行定义.

                                                {
    CHECK_EQ(XYbounds.size(), 4U) << "XYbounds size is not 4, but" << XYbounds.size();
    CHECK_EQ(traversed_x.size(), traversed_y.size());
    CHECK_EQ(traversed_x.size(), traversed_phi.size());
 
    x_ = traversed_x.back();
    y_ = traversed_y.back();
    phi_ = traversed_phi.back();
 
    // XYbounds in xmin, xmax, ymin, ymax
    x_grid_ = static_cast<int>((x_ - XYbounds[0]) / warm_start_conf.xy_grid_resolution());
    y_grid_ = static_cast<int>((y_ - XYbounds[2]) / warm_start_conf.xy_grid_resolution());
    phi_grid_ = static_cast<int>((phi_ - (-M_PI)) / warm_start_conf.phi_grid_resolution());
 
    traversed_x_ = traversed_x;
    traversed_y_ = traversed_y;
    traversed_phi_ = traversed_phi;
 
    index_ = ComputeStringIndex(x_grid_, y_grid_, phi_grid_);
    step_size_ = traversed_x.size();
}

成员函数说明

GetBoundingBox()

Box2d apollo::planning::Node3d::GetBoundingBox ( const common::VehicleParam &  vehicle_param_, const double  x, const double  y, const double  phi  )

static

在文件 node3d.cc 第 138 行定义.

                          {
    double ego_length = vehicle_param_.length();
    double ego_width = vehicle_param_.width();
    double shift_distance = ego_length / 2.0 - vehicle_param_.back_edge_to_center();
    Box2d ego_box({x + shift_distance * std::cos(phi), y + shift_distance * std::sin(phi)}, phi, ego_length, ego_width);
    return ego_box;
}

GetCost()

double apollo::planning::Node3d::GetCost ( ) const

inline

在文件 node3d.h 第 54 行定义.

                           {
        return traj_cost_ + heuristic_cost_;
    }

GetDirec()

bool apollo::planning::Node3d::GetDirec ( ) const

inline

在文件 node3d.h 第 85 行定义.

                          {
        return direction_;
    }

GetGridX()

int apollo::planning::Node3d::GetGridX ( ) const

inline

在文件 node3d.h 第 63 行定义.

                         {
        return x_grid_;
    }

GetGridY()

int apollo::planning::Node3d::GetGridY ( ) const

inline

在文件 node3d.h 第 66 行定义.

                         {
        return y_grid_;
    }

GetHeuCost()

double apollo::planning::Node3d::GetHeuCost ( ) const

inline

在文件 node3d.h 第 60 行定义.

                              {
        return heuristic_cost_;
    }

GetIndex()

const std::string & apollo::planning::Node3d::GetIndex ( ) const

inline

在文件 node3d.h 第 79 行定义.

                                      {
        return index_;
    }

GetPhi()

double apollo::planning::Node3d::GetPhi ( ) const

inline

在文件 node3d.h 第 75 行定义.

                          {
        return phi_;
    }

GetPhis()

const std::vector< double > & apollo::planning::Node3d::GetPhis ( ) const

inline

在文件 node3d.h 第 100 行定义.

                                             {
        return traversed_phi_;
    }

GetPreNode()

std::shared_ptr< Node3d > apollo::planning::Node3d::GetPreNode ( ) const

inline

在文件 node3d.h 第 91 行定义.

                                             {
        return pre_node_;
    }

GetSteer()

double apollo::planning::Node3d::GetSteer ( ) const

inline

在文件 node3d.h 第 88 行定义.

                            {
        return steering_;
    }

GetStepSize()

size_t apollo::planning::Node3d::GetStepSize ( ) const

inline

在文件 node3d.h 第 82 行定义.

                               {
        return step_size_;
    }

GetTrajCost()

double apollo::planning::Node3d::GetTrajCost ( ) const

inline

在文件 node3d.h 第 57 行定义.

                               {
        return traj_cost_;
    }

GetTravelDist()

const double & apollo::planning::Node3d::GetTravelDist ( ) const

inline

在文件 node3d.h 第 103 行定义.

                                        {
        return travel_distance_;
    }

GetX()

double apollo::planning::Node3d::GetX ( ) const

inline

在文件 node3d.h 第 69 行定义.

                        {
        return x_;
    }

GetXs()

const std::vector< double > & apollo::planning::Node3d::GetXs ( ) const

inline

在文件 node3d.h 第 94 行定义.

                                           {
        return traversed_x_;
    }

GetY()

double apollo::planning::Node3d::GetY ( ) const

inline

在文件 node3d.h 第 72 行定义.

                        {
        return y_;
    }

GetYs()

const std::vector< double > & apollo::planning::Node3d::GetYs ( ) const

inline

在文件 node3d.h 第 97 行定义.

                                           {
        return traversed_y_;
    }

operator==()

bool apollo::planning::Node3d::operator==

(

const Node3d &

right

)

const

在文件 node3d.cc 第 150 行定义.

                                                 {
    return right.GetIndex() == index_;
}

SetDirec()

void apollo::planning::Node3d::SetDirec ( bool  direction )

inline

在文件 node3d.h 第 109 行定义.

                                  {
        direction_ = direction;
    }

SetHeuCost()

void apollo::planning::Node3d::SetHeuCost ( double  cost )

inline

在文件 node3d.h 第 115 行定义.

                                 {
        heuristic_cost_ = cost;
    }

SetPre()

void apollo::planning::Node3d::SetPre ( std::shared_ptr< Node3d >  pre_node )

inline

在文件 node3d.h 第 106 行定义.

                                                {
        pre_node_ = pre_node;
    }

SetSteer()

void apollo::planning::Node3d::SetSteer ( double  steering )

inline

在文件 node3d.h 第 118 行定义.

                                   {
        steering_ = steering;
    }

SetTrajCost()

void apollo::planning::Node3d::SetTrajCost ( double  cost )

inline

在文件 node3d.h 第 112 行定义.

                                  {
        traj_cost_ = cost;
    }

SetTravelDist()

void apollo::planning::Node3d::SetTravelDist ( double  dist )

inline

在文件 node3d.h 第 121 行定义.

                                    {
        travel_distance_ = dist;
    }

---

该类的文档由以下文件生成:

• modules/planning/planning_open_space/coarse_trajectory_generator/node3d.h
• modules/planning/planning_open_space/coarse_trajectory_generator/node3d.cc