apollo::planning::ReferencePoint类 参考

#include <reference_point.h>

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

apollo::planning::ReferencePoint 的协作图:

Public 成员函数
	ReferencePoint ()=default
	ReferencePoint (const MapPathPoint &map_path_point, const double kappa, const double dkappa)
common::PathPoint	ToPathPoint (double s) const
double	kappa () const
double	dkappa () const
std::string	DebugString () const
Public 成员函数 继承自 apollo::hdmap::MapPathPoint
	MapPathPoint ()=default
	MapPathPoint (const common::math::Vec2d &point, double heading)
	MapPathPoint (const common::math::Vec2d &point, double heading, LaneWaypoint lane_waypoint)
	MapPathPoint (const common::math::Vec2d &point, double heading, std::vector< LaneWaypoint > lane_waypoints)
double	heading () const
void	set_heading (const double heading)
const std::vector< LaneWaypoint > &	lane_waypoints () const
void	add_lane_waypoint (LaneWaypoint lane_waypoint)
void	add_lane_waypoints (const std::vector< LaneWaypoint > &lane_waypoints)
void	clear_lane_waypoints ()
std::string	DebugString () const
Public 成员函数 继承自 apollo::common::math::Vec2d
constexpr	Vec2d (const double x, const double y) noexcept
	Constructor which takes x- and y-coordinates.
constexpr	Vec2d () noexcept
	Constructor returning the zero vector.
double	x () const
	Getter for x component
double	y () const
	Getter for y component
void	set_x (const double x)
	Setter for x component
void	set_y (const double y)
	Setter for y component
double	Length () const
	Gets the length of the vector
double	LengthSquare () const
	Gets the squared length of the vector
double	Angle () const
	Gets the angle between the vector and the positive x semi-axis
void	Normalize ()
	Returns the unit vector that is co-linear with this vector
double	DistanceTo (const Vec2d &other) const
	Returns the distance to the given vector
double	DistanceSquareTo (const Vec2d &other) const
	Returns the squared distance to the given vector
double	CrossProd (const Vec2d &other) const
	Returns the "cross" product between these two Vec2d (non-standard).
double	InnerProd (const Vec2d &other) const
	Returns the inner product between these two Vec2d.
Vec2d	rotate (const double angle) const
	rotate the vector by angle.
void	SelfRotate (const double angle)
	rotate the vector itself by angle.
Vec2d	operator+ (const Vec2d &other) const
	Sums two Vec2d
Vec2d	operator- (const Vec2d &other) const
	Subtracts two Vec2d
Vec2d	operator* (const double ratio) const
	Multiplies Vec2d by a scalar
Vec2d	operator/ (const double ratio) const
	Divides Vec2d by a scalar
Vec2d &	operator+= (const Vec2d &other)
	Sums another Vec2d to the current one
Vec2d &	operator-= (const Vec2d &other)
	Subtracts another Vec2d to the current one
Vec2d &	operator*= (const double ratio)
	Multiplies this Vec2d by a scalar
Vec2d &	operator/= (const double ratio)
	Divides this Vec2d by a scalar
bool	operator== (const Vec2d &other) const
	Compares two Vec2d
std::string	DebugString () const
	Returns a human-readable string representing this object

静态 Public 成员函数
static void	RemoveDuplicates (std::vector< ReferencePoint > *points)
静态 Public 成员函数 继承自 apollo::hdmap::MapPathPoint
static void	RemoveDuplicates (std::vector< MapPathPoint > *points)
static std::vector< MapPathPoint >	GetPointsFromSegment (const LaneSegment &segment)
static std::vector< MapPathPoint >	GetPointsFromLane (LaneInfoConstPtr lane, const double start_s, const double end_s)
静态 Public 成员函数 继承自 apollo::common::math::Vec2d
static Vec2d	CreateUnitVec2d (const double angle)
	Creates a unit-vector with a given angle to the positive x semi-axis

额外继承的成员函数
Protected 属性 继承自 apollo::hdmap::MapPathPoint
double	heading_ = 0.0
std::vector< LaneWaypoint >	lane_waypoints_
Protected 属性 继承自 apollo::common::math::Vec2d
double	x_ = 0.0
double	y_ = 0.0

详细描述

在文件 reference_point.h 第 33 行定义.

构造及析构函数说明

ReferencePoint() [1/2]

apollo::planning::ReferencePoint::ReferencePoint ( )

default

ReferencePoint() [2/2]

apollo::planning::ReferencePoint::ReferencePoint	(	const MapPathPoint &	map_path_point,
		const double	kappa,
		const double	dkappa
	)

在文件 reference_point.cc 第 34 行定义.

    : hdmap::MapPathPoint(map_path_point), kappa_(kappa), dkappa_(dkappa) {}

成员函数说明

DebugString()

std::string apollo::planning::ReferencePoint::DebugString

(

)

const

在文件 reference_point.cc 第 47 行定义.

                                            {
  return absl::StrCat("{x: ", x(), ", y: ", y(), ", theta: ", heading(),
                      ", kappa: ", kappa(), ", dkappa: ", dkappa(), "}");
}

dkappa()

double apollo::planning::ReferencePoint::dkappa

(

)

const

在文件 reference_point.cc 第 45 行定义.

{ return dkappa_; }

kappa()

double apollo::planning::ReferencePoint::kappa

(

)

const

在文件 reference_point.cc 第 43 行定义.

{ return kappa_; }

RemoveDuplicates()

void apollo::planning::ReferencePoint::RemoveDuplicates ( std::vector< ReferencePoint > *  points )

static

在文件 reference_point.cc 第 52 行定义.

                                                                       {
  CHECK_NOTNULL(points);
  int count = 0;
  for (size_t i = 0; i < points->size(); ++i) {
    auto& last_point = (*points)[count - 1];
    const auto& this_point = (*points)[i];
    // Use manhattan distance for save computation time.
    if (count == 0 ||
        std::abs(last_point.x() - this_point.x()) > kDuplicatedPointsEpsilon ||
        std::abs(last_point.y() - this_point.y()) > kDuplicatedPointsEpsilon) {
      (*points)[count++] = this_point;
    } else {
      last_point.add_lane_waypoints(this_point.lane_waypoints());
    }
  }
  points->resize(count);
}

ToPathPoint()

common::PathPoint apollo::planning::ReferencePoint::ToPathPoint

(

double

s

)

const

在文件 reference_point.cc 第 38 行定义.

                                                          {
  return common::util::PointFactory::ToPathPoint(x(), y(), 0.0, s, heading(),
                                                 kappa_, dkappa_);
}

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该类的文档由以下文件生成:

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