apollo::planning::PathBoundary类 参考

#include <path_boundary.h>

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

apollo::planning::PathBoundary 的协作图:

Public 成员函数
	PathBoundary ()
	PathBoundary (const double start_s, const double delta_s, std::vector< std::pair< double, double > > path_boundary)
	PathBoundary (const double delta_s, const PathBound &path_bound)
	construct class by path bound
virtual	~PathBoundary ()=default
void	set_delta_s (double s)
double	start_s () const
double	delta_s () const
void	set_boundary (const std::vector< std::pair< double, double > > &boundary)
std::vector< std::pair< double, double > >	boundary () const
bool	get_interpolated_s_weight (const double s, double *left_weight, double *right_weight, size_t *left_index, size_t *right_index) const
double	get_lower_bound_by_s (const double s)
double	get_upper_bound_by_s (const double s)
double	get_lower_bound_by_interpolated_index (double left_weight, double right_weight, size_t left_index, size_t right_index) const
double	get_upper_bound_by_interpolated_index (double left_weight, double right_weight, size_t left_index, size_t right_index) const
void	set_label (const std::string &label)
const std::string &	label () const
void	set_blocking_obstacle_id (const std::string &obs_id)
const std::string &	blocking_obstacle_id () const
void	DebugString (std::string name)
ObsCornerConstraints *	mutable_extra_path_bound ()
const ObsCornerConstraints &	extra_path_bound () const
ADCVertexConstraints *	mutable_adc_vertex_bound ()
const ADCVertexConstraints &	adc_vertex_bound () const

详细描述

在文件 path_boundary.h 第 94 行定义.

构造及析构函数说明

PathBoundary() [1/3]

apollo::planning::PathBoundary::PathBoundary ( )

inline

在文件 path_boundary.h 第 96 行定义.

{}

PathBoundary() [2/3]

apollo::planning::PathBoundary::PathBoundary	(	const double	start_s,
		const double	delta_s,
		std::vector< std::pair< double, double > >	path_boundary
	)

PathBoundary() [3/3]

apollo::planning::PathBoundary::PathBoundary	(	const double	delta_s,
		const PathBound &	path_bound
	)

construct class by path bound

参数

delta_s	The distance between two point in s-axis
path_bound	tuple first is s, second is l_min, third is l_max

~PathBoundary()

virtual apollo::planning::PathBoundary::~PathBoundary ( )

virtualdefault

成员函数说明

adc_vertex_bound()

const ADCVertexConstraints & apollo::planning::PathBoundary::adc_vertex_bound ( ) const

inline

在文件 path_boundary.h 第 141 行定义.

                                                       {
    return adc_vertex_bound_;
  }

blocking_obstacle_id()

const std::string & apollo::planning::PathBoundary::blocking_obstacle_id

(

)

const

在文件 path_boundary.cc 第 67 行定义.

                                                          {
  return blocking_obstacle_id_;
}

boundary()

std::vector< std::pair< double, double > > apollo::planning::PathBoundary::boundary

(

)

const

在文件 path_boundary.cc 第 41 行定义.

                                                                {
  std::vector<std::pair<double, double>> boundary;
  for (auto iter = begin(); iter != end(); iter++) {
    boundary.emplace_back(iter->l_lower.l, iter->l_upper.l);
  }
  return boundary;
}

DebugString()

void apollo::planning::PathBoundary::DebugString

(

std::string

name

)

在文件 path_boundary.cc 第 56 行定义.

                                             {
  PrintCurves print_curves;
  std::string lower_name = name + "_lower";
  std::string upper_name = name + "_upper";
  for (auto iter = begin(); iter != end(); iter++) {
    print_curves.AddPoint(lower_name, iter->s, iter->l_lower.l);
    print_curves.AddPoint(upper_name, iter->s, iter->l_upper.l);
  }
  print_curves.PrintToLog();
}

delta_s()

double apollo::planning::PathBoundary::delta_s

(

)

const

在文件 path_boundary.cc 第 38 行定义.

{ return delta_s_; }

extra_path_bound()

const ObsCornerConstraints & apollo::planning::PathBoundary::extra_path_bound ( ) const

inline

在文件 path_boundary.h 第 135 行定义.

                                                       {
    return extra_path_bound_;
  }

get_interpolated_s_weight()

bool apollo::planning::PathBoundary::get_interpolated_s_weight	(	const double	s,
		double *	left_weight,
		double *	right_weight,
		size_t *	left_index,
		size_t *	right_index
	)		const

在文件 path_boundary.cc 第 71 行定义.

                                                                        {
  if (s < front().s || s > back().s) {
    return false;
  }
  PathBoundPoint cmp(s, 0.0, 0.0);
  const auto iter = std::lower_bound(begin(), end(), cmp);
  auto last_iter = std::prev(iter);
  *left_index = std::distance(begin(), last_iter);
  *right_index = *left_index + 1;
  if (*left_index > size() - 1 || *right_index > size() - 1) {
    return false;
  }
  *left_weight =
      (at(*right_index).s - s) / (at(*right_index).s - at(*left_index).s);
  *right_weight = 1.0 - *left_weight;
  return true;
}

get_lower_bound_by_interpolated_index()

double apollo::planning::PathBoundary::get_lower_bound_by_interpolated_index	(	double	left_weight,
		double	right_weight,
		size_t	left_index,
		size_t	right_index
	)		const

在文件 path_boundary.cc 第 125 行定义.

                              {
  if (left_index < 0) {
    return front().l_lower.l;
  } else if (right_index >= size()) {
    return back().l_lower.l;
  }
  return at(left_index).l_lower.l * left_weight +
         at(right_index).l_lower.l * right_weight;
}

get_lower_bound_by_s()

double apollo::planning::PathBoundary::get_lower_bound_by_s

(

const double

s

)

在文件 path_boundary.cc 第 93 行定义.

                                                        {
  if (s <= front().s) {
    return front().l_lower.l;
  }
  if (s >= back().s) {
    return back().l_lower.l;
  }
  double l_weight = 0.0;
  double r_weight = 0.0;
  size_t l_index = 0;
  size_t r_index = 0;
  get_interpolated_s_weight(s, &l_weight, &r_weight, &l_index, &r_index);
 
  return at(l_index).l_lower.l * l_weight + at(r_index).l_lower.l * r_weight;
}

get_upper_bound_by_interpolated_index()

double apollo::planning::PathBoundary::get_upper_bound_by_interpolated_index	(	double	left_weight,
		double	right_weight,
		size_t	left_index,
		size_t	right_index
	)		const

在文件 path_boundary.cc 第 137 行定义.

                              {
  if (left_index < 0) {
    return front().l_upper.l;
  } else if (right_index >= size()) {
    return back().l_upper.l;
  }
  return at(left_index).l_upper.l * left_weight +
         at(right_index).l_upper.l * right_weight;
}

get_upper_bound_by_s()

double apollo::planning::PathBoundary::get_upper_bound_by_s

(

const double

s

)

在文件 path_boundary.cc 第 109 行定义.

                                                        {
  if (s <= front().s) {
    return front().l_upper.l;
  }
  if (s >= back().s) {
    return back().l_upper.l;
  }
  double l_weight = 0.0;
  double r_weight = 0.0;
  size_t l_index = 0;
  size_t r_index = 0;
  get_interpolated_s_weight(s, &l_weight, &r_weight, &l_index, &r_index);
 
  return at(l_index).l_upper.l * l_weight + at(r_index).l_upper.l * r_weight;
}

label()

const std::string & apollo::planning::PathBoundary::label

(

)

const

在文件 path_boundary.cc 第 51 行定义.

{ return label_; }

mutable_adc_vertex_bound()

ADCVertexConstraints * apollo::planning::PathBoundary::mutable_adc_vertex_bound ( )

inline

在文件 path_boundary.h 第 138 行定义.

                                                   {
    return &adc_vertex_bound_;
  }

mutable_extra_path_bound()

ObsCornerConstraints * apollo::planning::PathBoundary::mutable_extra_path_bound ( )

inline

在文件 path_boundary.h 第 132 行定义.

                                                   {
    return &extra_path_bound_;
  }

set_blocking_obstacle_id()

void apollo::planning::PathBoundary::set_blocking_obstacle_id

(

const std::string &

obs_id

)

在文件 path_boundary.cc 第 53 行定义.

                                                                   {
  blocking_obstacle_id_ = obs_id;
}

set_boundary()

void apollo::planning::PathBoundary::set_boundary

(

const std::vector< std::pair< double, double > > &

boundary

)

set_delta_s()

void apollo::planning::PathBoundary::set_delta_s

(

double

s

)

在文件 path_boundary.cc 第 39 行定义.

{ delta_s_ = s; }

set_label()

void apollo::planning::PathBoundary::set_label

(

const std::string &

label

)

在文件 path_boundary.cc 第 49 行定义.

{ label_ = label; }

start_s()

double apollo::planning::PathBoundary::start_s

(

)

const

在文件 path_boundary.cc 第 30 行定义.

                                   {
  if (size() == 0) {
    return 0;
  } else {
    return begin()->s;
  }
}

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该类的文档由以下文件生成:

• modules/planning/planning_base/common/path_boundary.h
• modules/planning/planning_base/common/path_boundary.cc