apollo::planning::QuarticPolynomialCurve1d类 参考

#include <quartic_polynomial_curve1d.h>

类 apollo::planning::QuarticPolynomialCurve1d 继承关系图:

apollo::planning::QuarticPolynomialCurve1d 的协作图:

Public 成员函数
	QuarticPolynomialCurve1d ()=default
	QuarticPolynomialCurve1d (const std::array< double, 3 > &start, const std::array< double, 2 > &end, const double param)
	QuarticPolynomialCurve1d (const double x0, const double dx0, const double ddx0, const double dx1, const double ddx1, const double param)
	QuarticPolynomialCurve1d (const QuarticPolynomialCurve1d &other)
virtual	~QuarticPolynomialCurve1d ()=default
double	Evaluate (const std::uint32_t order, const double p) const override
QuarticPolynomialCurve1d &	FitWithEndPointFirstOrder (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double param)
	Interface with refine quartic polynomial by meets end first order and start second order boundary condition:
QuarticPolynomialCurve1d &	FitWithEndPointSecondOrder (const double x0, const double dx0, const double x1, const double dx1, const double ddx1, const double param)
	Interface with refine quartic polynomial by meets end point second order and start point first order boundary condition
QuarticPolynomialCurve1d &	IntegratedFromCubicCurve (const PolynomialCurve1d &other, const double init_value)
QuarticPolynomialCurve1d &	DerivedFromQuinticCurve (const PolynomialCurve1d &other)
double	ParamLength () const override
std::string	ToString () const override
double	Coef (const size_t order) const override
size_t	Order () const override
Public 成员函数 继承自 apollo::planning::PolynomialCurve1d
	PolynomialCurve1d ()=default
virtual	~PolynomialCurve1d ()=default
Public 成员函数 继承自 apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

额外继承的成员函数
Protected 属性 继承自 apollo::planning::PolynomialCurve1d
double	param_ = 0.0

详细描述

在文件 quartic_polynomial_curve1d.h 第 32 行定义.

构造及析构函数说明

QuarticPolynomialCurve1d() [1/4]

apollo::planning::QuarticPolynomialCurve1d::QuarticPolynomialCurve1d ( )

default

QuarticPolynomialCurve1d() [2/4]

apollo::planning::QuarticPolynomialCurve1d::QuarticPolynomialCurve1d	(	const std::array< double, 3 > &	start,
		const std::array< double, 2 > &	end,
		const double	param
	)

在文件 quartic_polynomial_curve1d.cc 第 31 行定义.

    : QuarticPolynomialCurve1d(start[0], start[1], start[2], end[0], end[1],
                               param) {}

QuarticPolynomialCurve1d() [3/4]

apollo::planning::QuarticPolynomialCurve1d::QuarticPolynomialCurve1d	(	const double	x0,
		const double	dx0,
		const double	ddx0,
		const double	dx1,
		const double	ddx1,
		const double	param
	)

在文件 quartic_polynomial_curve1d.cc 第 37 行定义.

                                           {
  param_ = param;
  start_condition_[0] = x0;
  start_condition_[1] = dx0;
  start_condition_[2] = ddx0;
  end_condition_[0] = dx1;
  end_condition_[1] = ddx1;
  ComputeCoefficients(x0, dx0, ddx0, dx1, ddx1, param);
}

QuarticPolynomialCurve1d() [4/4]

apollo::planning::QuarticPolynomialCurve1d::QuarticPolynomialCurve1d

(

const QuarticPolynomialCurve1d &

other

)

在文件 quartic_polynomial_curve1d.cc 第 49 行定义.

                                           {
  param_ = other.param_;
  coef_ = other.coef_;
}

~QuarticPolynomialCurve1d()

virtual apollo::planning::QuarticPolynomialCurve1d::~QuarticPolynomialCurve1d ( )

virtualdefault

成员函数说明

Coef()

double apollo::planning::QuarticPolynomialCurve1d::Coef ( const size_t  order ) const

overridevirtual

实现了 apollo::planning::PolynomialCurve1d.

在文件 quartic_polynomial_curve1d.cc 第 176 行定义.

                                                              {
  CHECK_GT(5U, order);
  return coef_[order];
}

DerivedFromQuinticCurve()

QuarticPolynomialCurve1d & apollo::planning::QuarticPolynomialCurve1d::DerivedFromQuinticCurve

(

const PolynomialCurve1d &

other

)

在文件 quartic_polynomial_curve1d.cc 第 143 行定义.

                                    {
  CHECK_EQ(other.Order(), 5U);
  param_ = other.ParamLength();
  for (size_t i = 1; i < 6; ++i) {
    coef_[i - 1] = other.Coef(i) * static_cast<double>(i);
  }
  return *this;
}

Evaluate()

double apollo::planning::QuarticPolynomialCurve1d::Evaluate ( const std::uint32_t  order, const double  p  ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 quartic_polynomial_curve1d.cc 第 55 行定义.

                                                                {
  switch (order) {
    case 0: {
      return (((coef_[4] * p + coef_[3]) * p + coef_[2]) * p + coef_[1]) * p +
             coef_[0];
    }
    case 1: {
      return ((4.0 * coef_[4] * p + 3.0 * coef_[3]) * p + 2.0 * coef_[2]) * p +
             coef_[1];
    }
    case 2: {
      return (12.0 * coef_[4] * p + 6.0 * coef_[3]) * p + 2.0 * coef_[2];
    }
    case 3: {
      return 24.0 * coef_[4] * p + 6.0 * coef_[3];
    }
    case 4: {
      return 24.0 * coef_[4];
    }
    default:
      return 0.0;
  }
}

FitWithEndPointFirstOrder()

QuarticPolynomialCurve1d & apollo::planning::QuarticPolynomialCurve1d::FitWithEndPointFirstOrder	(	const double	x0,
		const double	dx0,
		const double	ddx0,
		const double	x1,
		const double	dx1,
		const double	param
	)

Interface with refine quartic polynomial by meets end first order and start second order boundary condition:

参数

x0	init point x location
dx0	init point derivative
ddx0	init point second order derivative
x1	end point x location
dx1	end point derivative
param	parameter length

返回

self

在文件 quartic_polynomial_curve1d.cc 第 80 行定义.

                                      {
  CHECK_GT(p, 0.0);
 
  param_ = p;
 
  coef_[0] = x0;
 
  coef_[1] = dx0;
 
  coef_[2] = 0.5 * ddx0;
 
  double p2 = p * p;
  double p3 = p2 * p;
  double p4 = p3 * p;
 
  double b0 = x1 - coef_[0] - coef_[1] * p - coef_[2] * p2;
  double b1 = dx1 - dx0 - ddx0 * p;
 
  coef_[4] = (b1 * p - 3 * b0) / p4;
  coef_[3] = (4 * b0 - b1 * p) / p3;
  return *this;
}

FitWithEndPointSecondOrder()

QuarticPolynomialCurve1d & apollo::planning::QuarticPolynomialCurve1d::FitWithEndPointSecondOrder	(	const double	x0,
		const double	dx0,
		const double	x1,
		const double	dx1,
		const double	ddx1,
		const double	param
	)

Interface with refine quartic polynomial by meets end point second order and start point first order boundary condition

在文件 quartic_polynomial_curve1d.cc 第 105 行定义.

                                       {
  CHECK_GT(p, 0.0);
 
  param_ = p;
 
  coef_[0] = x0;
 
  coef_[1] = dx0;
 
  double p2 = p * p;
  double p3 = p2 * p;
  double p4 = p3 * p;
 
  double b0 = x1 - coef_[0] - coef_[1] * p;
  double b1 = dx1 - coef_[1];
  double c1 = b1 * p;
  double c2 = ddx1 * p2;
 
  coef_[2] = (0.5 * c2 - 3 * c1 + 6 * b0) / p2;
  coef_[3] = (-c2 + 5 * c1 - 8 * b0) / p3;
  coef_[4] = (0.5 * c2 - 2 * c1 + 3 * b0) / p4;
 
  return *this;
}

IntegratedFromCubicCurve()

QuarticPolynomialCurve1d & apollo::planning::QuarticPolynomialCurve1d::IntegratedFromCubicCurve	(	const PolynomialCurve1d &	other,
		const double	init_value
	)

在文件 quartic_polynomial_curve1d.cc 第 132 行定义.

                                                             {
  CHECK_EQ(other.Order(), 3U);
  param_ = other.ParamLength();
  coef_[0] = init_value;
  for (size_t i = 0; i < 4; ++i) {
    coef_[i + 1] = other.Coef(i) / (static_cast<double>(i) + 1);
  }
  return *this;
}

Order()

size_t apollo::planning::QuarticPolynomialCurve1d::Order ( ) const

inlineoverridevirtual

实现了 apollo::planning::PolynomialCurve1d.

在文件 quartic_polynomial_curve1d.h 第 91 行定义.

{ return 4; }

ParamLength()

double apollo::planning::QuarticPolynomialCurve1d::ParamLength ( ) const

inlineoverridevirtual

实现了 apollo::planning::Curve1d.

在文件 quartic_polynomial_curve1d.h 第 85 行定义.

{ return param_; }

ToString()

std::string apollo::planning::QuarticPolynomialCurve1d::ToString ( ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 quartic_polynomial_curve1d.cc 第 172 行定义.

                                                   {
  return absl::StrCat(absl::StrJoin(coef_, "\t"), param_, "\n");
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/math/curve1d/quartic_polynomial_curve1d.h
• modules/planning/planning_base/math/curve1d/quartic_polynomial_curve1d.cc