apollo::planning::PiecewiseJerkTrajectory1d类 参考

#include <piecewise_jerk_trajectory1d.h>

类 apollo::planning::PiecewiseJerkTrajectory1d 继承关系图:

apollo::planning::PiecewiseJerkTrajectory1d 的协作图:

Public 成员函数
	PiecewiseJerkTrajectory1d (const double p, const double v, const double a)
virtual	~PiecewiseJerkTrajectory1d ()=default
double	Evaluate (const std::uint32_t order, const double param) const
double	ParamLength () const
std::string	ToString () const
void	AppendSegment (const double jerk, const double param)
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

详细描述

在文件 piecewise_jerk_trajectory1d.h 第 32 行定义.

构造及析构函数说明

PiecewiseJerkTrajectory1d()

apollo::planning::PiecewiseJerkTrajectory1d::PiecewiseJerkTrajectory1d	(	const double	p,
		const double	v,
		const double	a
	)

在文件 piecewise_jerk_trajectory1d.cc 第 31 行定义.

                                                                     {
  last_p_ = p;
  last_v_ = v;
  last_a_ = a;
  param_.push_back(0.0);
}

~PiecewiseJerkTrajectory1d()

virtual apollo::planning::PiecewiseJerkTrajectory1d::~PiecewiseJerkTrajectory1d ( )

virtualdefault

成员函数说明

AppendSegment()

void apollo::planning::PiecewiseJerkTrajectory1d::AppendSegment	(	const double	jerk,
		const double	param
	)

在文件 piecewise_jerk_trajectory1d.cc 第 40 行定义.

                                                                  {
  CHECK_GT(param, FLAGS_numerical_epsilon);
 
  param_.push_back(param_.back() + param);
 
  segments_.emplace_back(last_p_, last_v_, last_a_, jerk, param);
 
  last_p_ = segments_.back().end_position();
 
  last_v_ = segments_.back().end_velocity();
 
  last_a_ = segments_.back().end_acceleration();
}

Evaluate()

double apollo::planning::PiecewiseJerkTrajectory1d::Evaluate ( const std::uint32_t  order, const double  param  ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_jerk_trajectory1d.cc 第 55 行定义.

                                                                     {
  auto it_lower = std::lower_bound(param_.begin(), param_.end(), param);
 
  if (it_lower == param_.begin()) {
    return segments_[0].Evaluate(order, param);
  }
 
  if (it_lower == param_.end()) {
    auto index = std::max(0, static_cast<int>(param_.size() - 2));
    return segments_.back().Evaluate(order, param - param_[index]);
  }
 
  auto index = std::distance(param_.begin(), it_lower);
  return segments_[index - 1].Evaluate(order, param - param_[index - 1]);
}

ParamLength()

double apollo::planning::PiecewiseJerkTrajectory1d::ParamLength ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_jerk_trajectory1d.cc 第 72 行定义.

{ return param_.back(); }

ToString()

std::string apollo::planning::PiecewiseJerkTrajectory1d::ToString ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_jerk_trajectory1d.cc 第 74 行定义.

{ return ""; }

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该类的文档由以下文件生成:

• modules/planning/planning_base/common/trajectory1d/piecewise_jerk_trajectory1d.h
• modules/planning/planning_base/common/trajectory1d/piecewise_jerk_trajectory1d.cc