apollo::planning::PiecewiseTrajectory1d类 参考

#include <piecewise_trajectory1d.h>

类 apollo::planning::PiecewiseTrajectory1d 继承关系图:

apollo::planning::PiecewiseTrajectory1d 的协作图:

Public 成员函数
	PiecewiseTrajectory1d ()=default
virtual	~PiecewiseTrajectory1d ()=default
double	Evaluate (const std::uint32_t order, const double param) const
double	ParamLength () const
std::string	ToString () const
void	AppendSegment (const std::shared_ptr< Curve1d > trajectory)
void	PopSegment ()
size_t	NumOfSegments () 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_trajectory1d.h 第 32 行定义.

构造及析构函数说明

PiecewiseTrajectory1d()

apollo::planning::PiecewiseTrajectory1d::PiecewiseTrajectory1d ( )

default

~PiecewiseTrajectory1d()

virtual apollo::planning::PiecewiseTrajectory1d::~PiecewiseTrajectory1d ( )

virtualdefault

成员函数说明

AppendSegment()

void apollo::planning::PiecewiseTrajectory1d::AppendSegment

(

const std::shared_ptr< Curve1d >

trajectory

)

在文件 piecewise_trajectory1d.cc 第 54 行定义.

                                             {
  if (trajectory_segments_.empty()) {
    trajectory_segments_.push_back(trajectory);
  } else {
    double s1 = trajectory->Evaluate(0, 0.0);
    double v1 = trajectory->Evaluate(1, 0.0);
    double a1 = trajectory->Evaluate(2, 0.0);
    double j1 = trajectory->Evaluate(3, 0.0);
 
    auto last_trajectory = trajectory_segments_.back();
    double last_param_length = last_trajectory->ParamLength();
    double s0 = last_trajectory->Evaluate(0, last_param_length);
    double v0 = last_trajectory->Evaluate(1, last_param_length);
    double a0 = last_trajectory->Evaluate(2, last_param_length);
    double j0 = last_trajectory->Evaluate(3, last_param_length);
 
    if (std::fabs(s0 - s1) > 1.0e-4) {
      AWARN << "The appended segment is not smooth in order 0";
    }
 
    if (std::fabs(v0 - v1) > 1.0e-4) {
      AWARN << "The appended segment is not smooth in order 1";
    }
 
    if (std::fabs(a0 - a1) > 1.0e-4) {
      AWARN << "The appended segment is not smooth in order 2";
    }
 
    if (std::fabs(j0 - j1) > 1.0e-4) {
      AWARN << "The appended segment is not smooth in order 3";
    }
    trajectory_segments_.push_back(trajectory);
  }
 
  double accumulated_param_length = trajectory->ParamLength();
  if (accumulated_param_lengths_.size() > 0) {
    accumulated_param_length += accumulated_param_lengths_.back();
  }
  accumulated_param_lengths_.push_back(accumulated_param_length);
}

Evaluate()

double apollo::planning::PiecewiseTrajectory1d::Evaluate ( const std::uint32_t  order, const double  param  ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_trajectory1d.cc 第 30 行定义.

                                                                 {
  auto it_lower = std::lower_bound(accumulated_param_lengths_.begin(),
                                   accumulated_param_lengths_.end(), param);
  ACHECK(it_lower != accumulated_param_lengths_.end());
 
  size_t index = (size_t)(it_lower - accumulated_param_lengths_.begin());
 
  double param_overhead = 0.0;
  if (index != 0) {
    param_overhead = accumulated_param_lengths_[index - 1];
  }
  return trajectory_segments_[index]->Evaluate(order, param - param_overhead);
}

NumOfSegments()

size_t apollo::planning::PiecewiseTrajectory1d::NumOfSegments

(

)

const

在文件 piecewise_trajectory1d.cc 第 104 行定义.

                                                  {
  return trajectory_segments_.size();
}

ParamLength()

double apollo::planning::PiecewiseTrajectory1d::ParamLength ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_trajectory1d.cc 第 45 行定义.

                                                {
  if (accumulated_param_lengths_.empty()) {
    return 0.0;
  }
  return accumulated_param_lengths_.back();
}

PopSegment()

void apollo::planning::PiecewiseTrajectory1d::PopSegment

(

)

在文件 piecewise_trajectory1d.cc 第 96 行定义.

                                       {
  if (trajectory_segments_.empty()) {
    return;
  }
  trajectory_segments_.pop_back();
  accumulated_param_lengths_.pop_back();
}

ToString()

std::string apollo::planning::PiecewiseTrajectory1d::ToString ( ) const

virtual

实现了 apollo::planning::Curve1d.

在文件 piecewise_trajectory1d.cc 第 52 行定义.

{ return ""; }

---

该类的文档由以下文件生成:

• modules/planning/planning_base/common/trajectory1d/piecewise_trajectory1d.h
• modules/planning/planning_base/common/trajectory1d/piecewise_trajectory1d.cc