apollo::planning::PiecewiseAccelerationTrajectory1d类 参考

#include <piecewise_acceleration_trajectory1d.h>

类 apollo::planning::PiecewiseAccelerationTrajectory1d 继承关系图:

apollo::planning::PiecewiseAccelerationTrajectory1d 的协作图:

Public 成员函数
	PiecewiseAccelerationTrajectory1d (const double start_s, const double start_v)
virtual	~PiecewiseAccelerationTrajectory1d ()=default
void	AppendSegment (const double a, const double t_duration)
void	PopSegment ()
double	ParamLength () const override
std::string	ToString () const override
double	Evaluate (const std::uint32_t order, const double param) const override
std::array< double, 4 >	Evaluate (const double t) const
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

详细描述

在文件 piecewise_acceleration_trajectory1d.h 第 32 行定义.

构造及析构函数说明

PiecewiseAccelerationTrajectory1d()

apollo::planning::PiecewiseAccelerationTrajectory1d::PiecewiseAccelerationTrajectory1d	(	const double	start_s,
		const double	start_v
	)

在文件 piecewise_acceleration_trajectory1d.cc 第 35 行定义.

                                                {
  s_.push_back(start_s);
  v_.push_back(start_v);
  a_.push_back(0.0);
  t_.push_back(0.0);
}

~PiecewiseAccelerationTrajectory1d()

virtual apollo::planning::PiecewiseAccelerationTrajectory1d::~PiecewiseAccelerationTrajectory1d ( )

virtualdefault

成员函数说明

AppendSegment()

void apollo::planning::PiecewiseAccelerationTrajectory1d::AppendSegment	(	const double	a,
		const double	t_duration
	)

在文件 piecewise_acceleration_trajectory1d.cc 第 43 行定义.

                                                                               {
  double s0 = s_.back();
  double v0 = v_.back();
  double t0 = t_.back();
 
  double v1 = v0 + a * t_duration;
  ACHECK(v1 >= -FLAGS_numerical_epsilon);
 
  double delta_s = (v0 + v1) * t_duration * 0.5;
  double s1 = s0 + delta_s;
  double t1 = t0 + t_duration;
 
  ACHECK(s1 >= s0 - FLAGS_numerical_epsilon);
  s1 = std::max(s1, s0);
  s_.push_back(s1);
  v_.push_back(v1);
  a_.push_back(a);
  t_.push_back(t1);
}

Evaluate() [1/2]

std::array< double, 4 > apollo::planning::PiecewiseAccelerationTrajectory1d::Evaluate

(

const double

t

)

const

在文件 piecewise_acceleration_trajectory1d.cc 第 141 行定义.

                          {
  CHECK_GT(t_.size(), 1U);
  ACHECK(t_.front() <= t && t <= t_.back());
 
  auto it_lower = std::lower_bound(t_.begin(), t_.end(), t);
  auto index = std::distance(t_.begin(), it_lower);
 
  double s0 = s_[index - 1];
  double v0 = v_[index - 1];
  double t0 = t_[index - 1];
 
  double v1 = v_[index];
  double t1 = t_[index];
 
  double v = common::math::lerp(v0, t0, v1, t1, t);
  double s = (v0 + v) * (t - t0) * 0.5 + s0;
 
  double a = a_[index - 1];
  double j = 0.0;
 
  return {{s, v, a, j}};
}

Evaluate() [2/2]

double apollo::planning::PiecewiseAccelerationTrajectory1d::Evaluate ( const std::uint32_t  order, const double  param  ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_acceleration_trajectory1d.cc 第 83 行定义.

                                                                             {
  CHECK_GT(t_.size(), 1U);
  ACHECK(t_.front() <= param && param <= t_.back());
 
  switch (order) {
    case 0:
      return Evaluate_s(param);
    case 1:
      return Evaluate_v(param);
    case 2:
      return Evaluate_a(param);
    case 3:
      return Evaluate_j(param);
  }
  return 0.0;
}

ParamLength()

double apollo::planning::PiecewiseAccelerationTrajectory1d::ParamLength ( ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_acceleration_trajectory1d.cc 第 73 行定义.

                                                            {
  CHECK_GT(t_.size(), 1U);
  return t_.back() - t_.front();
}

PopSegment()

void apollo::planning::PiecewiseAccelerationTrajectory1d::PopSegment

(

)

在文件 piecewise_acceleration_trajectory1d.cc 第 64 行定义.

                                                   {
  if (a_.size() > 0) {
    s_.pop_back();
    v_.pop_back();
    a_.pop_back();
    t_.pop_back();
  }
}

ToString()

std::string apollo::planning::PiecewiseAccelerationTrajectory1d::ToString ( ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_acceleration_trajectory1d.cc 第 78 行定义.

                                                            {
  return absl::StrCat(absl::StrJoin(s_, "\t"), absl::StrJoin(t_, "\t"),
                      absl::StrJoin(v_, "\t"), absl::StrJoin(a_, "\t"), "\n");
}

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该类的文档由以下文件生成:

• modules/planning/planning_base/common/trajectory1d/piecewise_acceleration_trajectory1d.h
• modules/planning/planning_base/common/trajectory1d/piecewise_acceleration_trajectory1d.cc