apollo::planning::QuinticPolynomialCurve1d类 参考

#include <quintic_polynomial_curve1d.h>

类 apollo::planning::QuinticPolynomialCurve1d 继承关系图:

apollo::planning::QuinticPolynomialCurve1d 的协作图:

Public 成员函数
	QuinticPolynomialCurve1d ()=default
	QuinticPolynomialCurve1d (const std::array< double, 3 > &start, const std::array< double, 3 > &end, const double param)
	QuinticPolynomialCurve1d (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double ddx1, const double param)
	QuinticPolynomialCurve1d (const QuinticPolynomialCurve1d &other)
void	SetParam (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double ddx1, const double param)
void	IntegratedFromQuarticCurve (const PolynomialCurve1d &other, const double init_value)
virtual	~QuinticPolynomialCurve1d ()=default
double	Evaluate (const std::uint32_t order, const double p) const override
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

Protected 成员函数
void	ComputeCoefficients (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double ddx1, const double param)

Protected 属性
std::array< double, 6 >	coef_ {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}
std::array< double, 3 >	start_condition_ {{0.0, 0.0, 0.0}}
std::array< double, 3 >	end_condition_ {{0.0, 0.0, 0.0}}
Protected 属性 继承自 apollo::planning::PolynomialCurve1d
double	param_ = 0.0

详细描述

在文件 quintic_polynomial_curve1d.h 第 33 行定义.

构造及析构函数说明

QuinticPolynomialCurve1d() [1/4]

apollo::planning::QuinticPolynomialCurve1d::QuinticPolynomialCurve1d ( )

default

QuinticPolynomialCurve1d() [2/4]

apollo::planning::QuinticPolynomialCurve1d::QuinticPolynomialCurve1d	(	const std::array< double, 3 > &	start,
		const std::array< double, 3 > &	end,
		const double	param
	)

在文件 quintic_polynomial_curve1d.cc 第 31 行定义.

    : QuinticPolynomialCurve1d(start[0], start[1], start[2], end[0], end[1],
                               end[2], param) {}

QuinticPolynomialCurve1d() [3/4]

apollo::planning::QuinticPolynomialCurve1d::QuinticPolynomialCurve1d	(	const double	x0,
		const double	dx0,
		const double	ddx0,
		const double	x1,
		const double	dx1,
		const double	ddx1,
		const double	param
	)

在文件 quintic_polynomial_curve1d.cc 第 37 行定义.

                                                             {
  ComputeCoefficients(x0, dx0, ddx0, x1, dx1, ddx1, param);
  start_condition_[0] = x0;
  start_condition_[1] = dx0;
  start_condition_[2] = ddx0;
  end_condition_[0] = x1;
  end_condition_[1] = dx1;
  end_condition_[2] = ddx1;
  param_ = param;
}

QuinticPolynomialCurve1d() [4/4]

apollo::planning::QuinticPolynomialCurve1d::QuinticPolynomialCurve1d

(

const QuinticPolynomialCurve1d &

other

)

在文件 quintic_polynomial_curve1d.cc 第 50 行定义.

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

~QuinticPolynomialCurve1d()

virtual apollo::planning::QuinticPolynomialCurve1d::~QuinticPolynomialCurve1d ( )

virtualdefault

成员函数说明

Coef()

double apollo::planning::QuinticPolynomialCurve1d::Coef ( const size_t  order ) const

overridevirtual

实现了 apollo::planning::PolynomialCurve1d.

在文件 quintic_polynomial_curve1d.cc 第 135 行定义.

                                                              {
  CHECK_GT(6U, order);
  return coef_[order];
}

ComputeCoefficients()

void apollo::planning::QuinticPolynomialCurve1d::ComputeCoefficients ( const double  x0, const double  dx0, const double  ddx0, const double  x1, const double  dx1, const double  ddx1, const double  param  )

protected

在文件 quintic_polynomial_curve1d.cc 第 108 行定义.

                                                         {
  CHECK_GT(p, 0.0);
 
  coef_[0] = x0;
  coef_[1] = dx0;
  coef_[2] = ddx0 / 2.0;
 
  const double p2 = p * p;
  const double p3 = p * p2;
 
  // the direct analytical method is at least 6 times faster than using matrix
  // inversion.
  const double c0 = (x1 - 0.5 * p2 * ddx0 - dx0 * p - x0) / p3;
  const double c1 = (dx1 - ddx0 * p - dx0) / p2;
  const double c2 = (ddx1 - ddx0) / p;
 
  coef_[3] = 0.5 * (20.0 * c0 - 8.0 * c1 + c2);
  coef_[4] = (-15.0 * c0 + 7.0 * c1 - c2) / p;
  coef_[5] = (6.0 * c0 - 3.0 * c1 + 0.5 * c2) / p2;
}

Evaluate()

double apollo::planning::QuinticPolynomialCurve1d::Evaluate ( const std::uint32_t  order, const double  p  ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 quintic_polynomial_curve1d.cc 第 56 行定义.

                                                                {
  switch (order) {
    case 0: {
      return ((((coef_[5] * p + coef_[4]) * p + coef_[3]) * p + coef_[2]) * p +
              coef_[1]) *
                 p +
             coef_[0];
    }
    case 1: {
      return (((5.0 * coef_[5] * p + 4.0 * coef_[4]) * p + 3.0 * coef_[3]) * p +
              2.0 * coef_[2]) *
                 p +
             coef_[1];
    }
    case 2: {
      return (((20.0 * coef_[5] * p + 12.0 * coef_[4]) * p) + 6.0 * coef_[3]) *
                 p +
             2.0 * coef_[2];
    }
    case 3: {
      return (60.0 * coef_[5] * p + 24.0 * coef_[4]) * p + 6.0 * coef_[3];
    }
    case 4: {
      return 120.0 * coef_[5] * p + 24.0 * coef_[4];
    }
    case 5: {
      return 120.0 * coef_[5];
    }
    default:
      return 0.0;
  }
}

IntegratedFromQuarticCurve()

void apollo::planning::QuinticPolynomialCurve1d::IntegratedFromQuarticCurve	(	const PolynomialCurve1d &	other,
		const double	init_value
	)

在文件 quintic_polynomial_curve1d.cc 第 98 行定义.

                                                             {
  CHECK_EQ(other.Order(), 4U);
  param_ = other.ParamLength();
  coef_[0] = init_value;
  for (size_t i = 0; i < 5; ++i) {
    coef_[i + 1] = other.Coef(i) / (static_cast<double>(i) + 1);
  }
}

Order()

size_t apollo::planning::QuinticPolynomialCurve1d::Order ( ) const

inlineoverridevirtual

实现了 apollo::planning::PolynomialCurve1d.

在文件 quintic_polynomial_curve1d.h 第 63 行定义.

{ return 5; }

ParamLength()

double apollo::planning::QuinticPolynomialCurve1d::ParamLength ( ) const

inlineoverridevirtual

实现了 apollo::planning::Curve1d.

在文件 quintic_polynomial_curve1d.h 第 58 行定义.

{ return param_; }

SetParam()

void apollo::planning::QuinticPolynomialCurve1d::SetParam	(	const double	x0,
		const double	dx0,
		const double	ddx0,
		const double	x1,
		const double	dx1,
		const double	ddx1,
		const double	param
	)

在文件 quintic_polynomial_curve1d.cc 第 90 行定义.

                                                            {
  ComputeCoefficients(x0, dx0, ddx0, x1, dx1, ddx1, param);
  param_ = param;
}

ToString()

std::string apollo::planning::QuinticPolynomialCurve1d::ToString ( ) const

overridevirtual

实现了 apollo::planning::Curve1d.

在文件 quintic_polynomial_curve1d.cc 第 131 行定义.

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

类成员变量说明

coef_

std::array<double, 6> apollo::planning::QuinticPolynomialCurve1d::coef_ {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}

protected

在文件 quintic_polynomial_curve1d.h 第 71 行定义.

{{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};

end_condition_

std::array<double, 3> apollo::planning::QuinticPolynomialCurve1d::end_condition_ {{0.0, 0.0, 0.0}}

protected

在文件 quintic_polynomial_curve1d.h 第 73 行定义.

{{0.0, 0.0, 0.0}};

start_condition_

std::array<double, 3> apollo::planning::QuinticPolynomialCurve1d::start_condition_ {{0.0, 0.0, 0.0}}

protected

在文件 quintic_polynomial_curve1d.h 第 72 行定义.

{{0.0, 0.0, 0.0}};

---

该类的文档由以下文件生成:

• modules/planning/planning_base/math/curve1d/quintic_polynomial_curve1d.h
• modules/planning/planning_base/math/curve1d/quintic_polynomial_curve1d.cc