apollo::planning::QpSplineReferenceLineSmoother类 参考

#include <qp_spline_reference_line_smoother.h>

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

apollo::planning::QpSplineReferenceLineSmoother 的协作图:

Public 成员函数
	QpSplineReferenceLineSmoother (const ReferenceLineSmootherConfig &config)
virtual	~QpSplineReferenceLineSmoother ()=default
bool	Smooth (const ReferenceLine &raw_reference_line, ReferenceLine *const smoothed_reference_line) override
	Smooth a given reference line
void	SetAnchorPoints (const std::vector< AnchorPoint > &anchor_points) override
	Smoothing constraints
Public 成员函数 继承自 apollo::planning::ReferenceLineSmoother
	ReferenceLineSmoother (const ReferenceLineSmootherConfig &config)
virtual	~ReferenceLineSmoother ()=default

额外继承的成员函数
Protected 属性 继承自 apollo::planning::ReferenceLineSmoother
ReferenceLineSmootherConfig	config_

详细描述

在文件 qp_spline_reference_line_smoother.h 第 37 行定义.

构造及析构函数说明

QpSplineReferenceLineSmoother()

apollo::planning::QpSplineReferenceLineSmoother::QpSplineReferenceLineSmoother ( const ReferenceLineSmootherConfig &  config )

explicit

在文件 qp_spline_reference_line_smoother.cc 第 37 行定义.

    : ReferenceLineSmoother(config) {
  spline_solver_.reset(
      new OsqpSpline2dSolver(t_knots_, config.qp_spline().spline_order()));
}

~QpSplineReferenceLineSmoother()

virtual apollo::planning::QpSplineReferenceLineSmoother::~QpSplineReferenceLineSmoother ( )

virtualdefault

成员函数说明

SetAnchorPoints()

void apollo::planning::QpSplineReferenceLineSmoother::SetAnchorPoints ( const std::vector< AnchorPoint > &  achor_points )

overridevirtual

Smoothing constraints

实现了 apollo::planning::ReferenceLineSmoother.

在文件 qp_spline_reference_line_smoother.cc 第 207 行定义.

                                                 {
  CHECK_GE(anchor_points.size(), 2U);
  anchor_points_ = anchor_points;
}

Smooth()

bool apollo::planning::QpSplineReferenceLineSmoother::Smooth ( const ReferenceLine &  , ReferenceLine *const    )

overridevirtual

Smooth a given reference line

实现了 apollo::planning::ReferenceLineSmoother.

在文件 qp_spline_reference_line_smoother.cc 第 46 行定义.

                                                  {
  Clear();
  const double kEpsilon = 1e-6;
  if (!Sampling()) {
    AERROR << "Fail to sample reference line smoother points!";
    return false;
  }
 
  spline_solver_->Reset(t_knots_, config_.qp_spline().spline_order());
 
  if (!AddConstraint()) {
    AERROR << "Add constraint for spline smoother failed";
    return false;
  }
 
  if (!AddKernel()) {
    AERROR << "Add kernel for spline smoother failed.";
    return false;
  }
 
  if (!Solve()) {
    AERROR << "Solve spline smoother problem failed";
  }
 
  // mapping spline to reference line point
  const double start_t = t_knots_.front();
  const double end_t = t_knots_.back();
 
  const double resolution =
      (end_t - start_t) / (config_.num_of_total_points() - 1);
  double t = start_t;
  std::vector<ReferencePoint> ref_points;
  const auto& spline = spline_solver_->spline();
  for (std::uint32_t i = 0; i < config_.num_of_total_points() && t < end_t;
       ++i, t += resolution) {
    const double heading =
        std::atan2(spline.DerivativeY(t), spline.DerivativeX(t));
    const double kappa = CurveMath::ComputeCurvature(
        spline.DerivativeX(t), spline.SecondDerivativeX(t),
        spline.DerivativeY(t), spline.SecondDerivativeY(t));
    const double dkappa = CurveMath::ComputeCurvatureDerivative(
        spline.DerivativeX(t), spline.SecondDerivativeX(t),
        spline.ThirdDerivativeX(t), spline.DerivativeY(t),
        spline.SecondDerivativeY(t), spline.ThirdDerivativeY(t));
 
    std::pair<double, double> xy = spline(t);
    xy.first += ref_x_;
    xy.second += ref_y_;
    common::SLPoint ref_sl_point;
    if (!raw_reference_line.XYToSL({xy.first, xy.second}, &ref_sl_point)) {
      return false;
    }
    if (ref_sl_point.s() < -kEpsilon ||
        ref_sl_point.s() > raw_reference_line.Length()) {
      continue;
    }
    ref_sl_point.set_s(std::max(ref_sl_point.s(), 0.0));
    ReferencePoint rlp = raw_reference_line.GetReferencePoint(ref_sl_point.s());
    auto new_lane_waypoints = rlp.lane_waypoints();
    for (auto& lane_waypoint : new_lane_waypoints) {
      lane_waypoint.l = ref_sl_point.l();
    }
    ref_points.emplace_back(ReferencePoint(
        hdmap::MapPathPoint(common::math::Vec2d(xy.first, xy.second), heading,
                            new_lane_waypoints),
        kappa, dkappa));
  }
 
  ReferencePoint::RemoveDuplicates(&ref_points);
  if (ref_points.size() < 2) {
    AERROR << "Fail to generate smoothed reference line.";
    return false;
  }
  *smoothed_reference_line = ReferenceLine(ref_points);
  return true;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/reference_line/qp_spline_reference_line_smoother.h
• modules/planning/planning_base/reference_line/qp_spline_reference_line_smoother.cc