apollo::planning::PublishableTrajectory类 参考

#include <publishable_trajectory.h>

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

apollo::planning::PublishableTrajectory 的协作图:

Public 成员函数
	PublishableTrajectory ()=default
	PublishableTrajectory (const double header_time, const DiscretizedTrajectory &discretized_trajectory)
	PublishableTrajectory (const ADCTrajectory &trajectory_pb)
	Create a publishable trajectory based on a trajectory protobuf
double	header_time () const
void	PopulateTrajectoryProtobuf (ADCTrajectory *trajectory_pb) const
Public 成员函数 继承自 apollo::planning::DiscretizedTrajectory
	DiscretizedTrajectory ()=default
	DiscretizedTrajectory (const ADCTrajectory &trajectory)
	Create a DiscretizedTrajectory based on protobuf message
	DiscretizedTrajectory (const std::vector< common::TrajectoryPoint > &trajectory_points)
void	SetTrajectoryPoints (const std::vector< common::TrajectoryPoint > &trajectory_points)
virtual	~DiscretizedTrajectory ()=default
virtual common::TrajectoryPoint	StartPoint () const
virtual double	GetTemporalLength () const
virtual double	GetSpatialLength () const
virtual common::TrajectoryPoint	Evaluate (const double relative_time) const
virtual size_t	QueryLowerBoundPoint (const double relative_time, const double epsilon=1.0e-5) const
virtual size_t	QueryNearestPoint (const common::math::Vec2d &position) const
size_t	QueryNearestPointWithBuffer (const common::math::Vec2d &position, const double buffer) const
virtual void	AppendTrajectoryPoint (const common::TrajectoryPoint &trajectory_point)
void	PrependTrajectoryPoints (const std::vector< common::TrajectoryPoint > &trajectory_points)
const common::TrajectoryPoint &	TrajectoryPointAt (const size_t index) const
size_t	NumOfPoints () const
virtual void	Clear ()
bool	IsReversed () const
void	SetIsReversed (const bool flag)

详细描述

在文件 publishable_trajectory.h 第 30 行定义.

构造及析构函数说明

PublishableTrajectory() [1/3]

apollo::planning::PublishableTrajectory::PublishableTrajectory ( )

default

PublishableTrajectory() [2/3]

apollo::planning::PublishableTrajectory::PublishableTrajectory	(	const double	header_time,
		const DiscretizedTrajectory &	discretized_trajectory
	)

在文件 publishable_trajectory.cc 第 28 行定义.

    : DiscretizedTrajectory(discretized_trajectory),
      header_time_(header_time) {}

PublishableTrajectory() [3/3]

apollo::planning::PublishableTrajectory::PublishableTrajectory ( const ADCTrajectory &  trajectory_pb )

explicit

Create a publishable trajectory based on a trajectory protobuf

在文件 publishable_trajectory.cc 第 34 行定义.

    : DiscretizedTrajectory(trajectory_pb),
      header_time_(trajectory_pb.header().timestamp_sec()) {}

成员函数说明

header_time()

double apollo::planning::PublishableTrajectory::header_time

(

)

const

在文件 publishable_trajectory.cc 第 38 行定义.

{ return header_time_; }

PopulateTrajectoryProtobuf()

void apollo::planning::PublishableTrajectory::PopulateTrajectoryProtobuf

(

ADCTrajectory *

trajectory_pb

)

const

在文件 publishable_trajectory.cc 第 40 行定义.

                                        {
  CHECK_NOTNULL(trajectory_pb);
  trajectory_pb->mutable_header()->set_timestamp_sec(header_time_);
  trajectory_pb->mutable_trajectory_point()->CopyFrom({begin(), end()});
  if (!empty()) {
    const auto& last_tp = back();
    trajectory_pb->set_total_path_length(last_tp.path_point().s());
    trajectory_pb->set_total_path_time(last_tp.relative_time());
  }
  AINFO << "IsReversed" << IsReversed();
  if (IsReversed()) {
    trajectory_pb->set_gear(canbus::Chassis::GEAR_REVERSE);
  } else {
    trajectory_pb->set_gear(canbus::Chassis::GEAR_DRIVE);
  }
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/common/trajectory/publishable_trajectory.h
• modules/planning/planning_base/common/trajectory/publishable_trajectory.cc