apollo::planning::PiecewiseQuinticSpiralPath类 参考

#include <piecewise_quintic_spiral_path.h>

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

apollo::planning::PiecewiseQuinticSpiralPath 的协作图:

Public 成员函数
	PiecewiseQuinticSpiralPath (const double theta, const double kappa, const double dkappa)
virtual	~PiecewiseQuinticSpiralPath ()=default
void	Append (const double theta, const double kappa, const double dkappa, const double delta_s)
double	Evaluate (const std::uint32_t order, const double param) const override
double	DeriveKappaS (const double s) const
double	ParamLength () const override
std::string	ToString () const override
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

详细描述

在文件 piecewise_quintic_spiral_path.h 第 32 行定义.

构造及析构函数说明

PiecewiseQuinticSpiralPath()

apollo::planning::PiecewiseQuinticSpiralPath::PiecewiseQuinticSpiralPath	(	const double	theta,
		const double	kappa,
		const double	dkappa
	)

在文件 piecewise_quintic_spiral_path.cc 第 26 行定义.

    : last_theta_(theta), last_kappa_(kappa), last_dkappa_(dkappa) {
  accumulated_s_.push_back(0.0);
}

~PiecewiseQuinticSpiralPath()

virtual apollo::planning::PiecewiseQuinticSpiralPath::~PiecewiseQuinticSpiralPath ( )

virtualdefault

成员函数说明

Append()

void apollo::planning::PiecewiseQuinticSpiralPath::Append	(	const double	theta,
		const double	kappa,
		const double	dkappa,
		const double	delta_s
	)

在文件 piecewise_quintic_spiral_path.cc 第 33 行定义.

                                                              {
  double s = delta_s + accumulated_s_.back();
  accumulated_s_.push_back(s);
 
  pieces_.emplace_back(last_theta_, last_kappa_, last_dkappa_, theta, kappa,
                       dkappa, delta_s);
 
  last_theta_ = theta;
  last_kappa_ = kappa;
  last_dkappa_ = dkappa;
}

DeriveKappaS()

double apollo::planning::PiecewiseQuinticSpiralPath::DeriveKappaS

(

const double

s

)

const

在文件 piecewise_quintic_spiral_path.cc 第 53 行定义.

                                                                    {
  auto index = LocatePiece(s);
  const auto& piece = pieces_[index];
  double ratio = (s - accumulated_s_[index]) / piece.ParamLength();
  return piece.DeriveKappaDerivative(QuinticSpiralPath::DELTA_S, ratio);
}

Evaluate()

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

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_quintic_spiral_path.cc 第 47 行定义.

                                                                  {
  auto index = LocatePiece(s);
  return pieces_[index].Evaluate(order, s - accumulated_s_[index]);
}

ParamLength()

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

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_quintic_spiral_path.cc 第 60 行定义.

                                                     {
  return accumulated_s_.back();
}

ToString()

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

inlineoverridevirtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_quintic_spiral_path.h 第 48 行定义.

{ return "PiecewiseQuinticSpiralPath"; }

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该类的文档由以下文件生成:

• modules/planning/planning_base/math/curve1d/piecewise_quintic_spiral_path.h
• modules/planning/planning_base/math/curve1d/piecewise_quintic_spiral_path.cc