#include <st_guide_line.h>

apollo::planning::STGuideLine 的协作图:

Public 成员函数
	STGuideLine ()

void	Init (double desired_v)

void	Init (double desired_v, const std::vector< common::TrajectoryPoint > &speed_reference)

virtual	~STGuideLine ()=default

double	GetGuideSFromT (double t)

void	UpdateBlockingInfo (const double t, const double s_block, const bool is_lower_block)

详细描述

在文件 st_guide_line.h 第 42 行定义.

构造及析构函数说明

◆ STGuideLine()

apollo::planning::STGuideLine::STGuideLine ( )

inline

在文件 st_guide_line.h 第 44 行定义.

44{}

◆ ~STGuideLine()

virtual apollo::planning::STGuideLine::~STGuideLine ( )

virtualdefault

成员函数说明

◆ GetGuideSFromT()

double apollo::planning::STGuideLine::GetGuideSFromT ( double t )

在文件 st_guide_line.cc 第 52 行定义.

                                           {
  common::SpeedPoint speed_point;
  if (t < guideline_speed_data_.TotalTime() &&
      guideline_speed_data_.EvaluateByTime(t, &speed_point)) {
    s0_ = speed_point.s();
    t0_ = t;
    return speed_point.s();
  }
  return s0_ + (t - t0_) * v0_;
}

◆ Init() [1/2]

void apollo::planning::STGuideLine::Init ( double desired_v )

在文件 st_guide_line.cc 第 28 行定义.

                                       {
  s0_ = 0.0;
  t0_ = 0.0;
  v0_ = desired_v;
}

◆ Init() [2/2]

void apollo::planning::STGuideLine::Init	(	double	desired_v,
		const std::vector< common::TrajectoryPoint > &	speed_reference
	)

在文件 st_guide_line.cc 第 34 行定义.

                                                             {
  s0_ = 0.0;
  t0_ = 0.0;
  v0_ = desired_v;
  DiscretizedTrajectory discrete_speed_reference(speed_reference);
  double total_time = discrete_speed_reference.GetTemporalLength();
  guideline_speed_data_.clear();
  for (double t = 0; t <= total_time; t += kSpeedGuideLineResolution) {
    const common::TrajectoryPoint trajectory_point =
        discrete_speed_reference.Evaluate(t);
    guideline_speed_data_.AppendSpeedPoint(
        trajectory_point.path_point().s(), trajectory_point.relative_time(),
        trajectory_point.v(), trajectory_point.a(), trajectory_point.da());
  }
}

◆ UpdateBlockingInfo()

void apollo::planning::STGuideLine::UpdateBlockingInfo	(	const double	t,
		const double	s_block,
		const bool	is_lower_block
	)

在文件 st_guide_line.cc 第 63 行定义.

                                                                {
  if (is_lower_block) {
    if (GetGuideSFromT(t) < s_block) {
      s0_ = s_block;
      t0_ = t;
    }
  } else {
    if (GetGuideSFromT(t) > s_block) {
      s0_ = s_block;
      t0_ = t;
    }
  }
}

该类的文档由以下文件生成:

modules/planning/tasks/st_bounds_decider/st_guide_line.h
modules/planning/tasks/st_bounds_decider/st_guide_line.cc

Public 成员函数