#include <speed_data.h>

类 apollo::planning::SpeedData 继承关系图:

apollo::planning::SpeedData 的协作图:

Public 成员函数
	SpeedData ()=default

virtual	~SpeedData ()=default

	SpeedData (std::vector< common::SpeedPoint > speed_points)

void	AppendSpeedPoint (const double s, const double time, const double v, const double a, const double da)

bool	EvaluateByTime (const double time, common::SpeedPoint *const speed_point) const

bool	EvaluateByS (const double s, common::SpeedPoint *const speed_point) const

double	TotalTime () const

double	TotalLength () const

virtual std::string	DebugString () const

详细描述

在文件 speed_data.h 第 30 行定义.

构造及析构函数说明

◆ SpeedData() [1/2]

apollo::planning::SpeedData::SpeedData ( )

default

◆ ~SpeedData()

virtual apollo::planning::SpeedData::~SpeedData ( )

virtualdefault

◆ SpeedData() [2/2]

apollo::planning::SpeedData::SpeedData ( std::vector< common::SpeedPoint > speed_points )

explicit

在文件 speed_data.cc 第 41 行定义.

    : std::vector<SpeedPoint>(std::move(speed_points)) {
  std::sort(begin(), end(), [](const SpeedPoint& p1, const SpeedPoint& p2) {
    return p1.t() < p2.t();
  });
}

成员函数说明

◆ AppendSpeedPoint()

void apollo::planning::SpeedData::AppendSpeedPoint	(	const double	s,
		const double	time,
		const double	v,
		const double	a,
		const double	da
	)

在文件 speed_data.cc 第 48 行定义.

                                                  {
  static std::mutex mutex_speedpoint;
  UNIQUE_LOCK_MULTITHREAD(mutex_speedpoint);
 
  if (!empty()) {
    ACHECK(back().t() < time);
  }
  push_back(common::util::PointFactory::ToSpeedPoint(s, time, v, a, da));
}

◆ DebugString()

std::string apollo::planning::SpeedData::DebugString ( ) const

virtual

在文件 speed_data.cc 第 154 行定义.

                                       {
  const auto limit = std::min(
      size(), static_cast<size_t>(FLAGS_trajectory_point_num_for_debug));
  return absl::StrCat(
      "[\n",
      absl::StrJoin(begin(), begin() + limit, ",\n",
                    apollo::common::util::DebugStringFormatter()),
      "]\n");
}

◆ EvaluateByS()

bool apollo::planning::SpeedData::EvaluateByS	(	const double	s,
		common::SpeedPoint *const	speed_point
	)		const

在文件 speed_data.cc 第 100 行定义.

                                                                       {
  if (size() < 2) {
    return false;
  }
  if (!(front().s() < s + 1.0e-6 && s - 1.0e-6 < back().s())) {
    return false;
  }
 
  auto comp = [](const common::SpeedPoint& sp, const double s) {
    return sp.s() < s;
  };
 
  auto it_lower = std::lower_bound(begin(), end(), s, comp);
  if (it_lower == end()) {
    *speed_point = back();
  } else if (it_lower == begin()) {
    *speed_point = front();
  } else {
    const auto& p0 = *(it_lower - 1);
    const auto& p1 = *it_lower;
    double s0 = p0.s();
    double s1 = p1.s();
 
    speed_point->Clear();
    speed_point->set_s(s);
    speed_point->set_t(common::math::lerp(p0.t(), s0, p1.t(), s1, s));
    if (p0.has_v() && p1.has_v()) {
      speed_point->set_v(common::math::lerp(p0.v(), s0, p1.v(), s1, s));
    }
    if (p0.has_a() && p1.has_a()) {
      speed_point->set_a(common::math::lerp(p0.a(), s0, p1.a(), s1, s));
    }
    if (p0.has_da() && p1.has_da()) {
      speed_point->set_da(common::math::lerp(p0.da(), s0, p1.da(), s1, s));
    }
  }
  return true;
}

◆ EvaluateByTime()

bool apollo::planning::SpeedData::EvaluateByTime	(	const double	time,
		common::SpeedPoint *const	speed_point
	)		const

在文件 speed_data.cc 第 60 行定义.

                                                                          {
  if (size() < 2) {
    return false;
  }
  if (!(front().t() < t + 1.0e-6 && t - 1.0e-6 < back().t())) {
    return false;
  }
 
  auto comp = [](const common::SpeedPoint& sp, const double t) {
    return sp.t() < t;
  };
 
  auto it_lower = std::lower_bound(begin(), end(), t, comp);
  if (it_lower == end()) {
    *speed_point = back();
  } else if (it_lower == begin()) {
    *speed_point = front();
  } else {
    const auto& p0 = *(it_lower - 1);
    const auto& p1 = *it_lower;
    double t0 = p0.t();
    double t1 = p1.t();
 
    speed_point->Clear();
    speed_point->set_s(common::math::lerp(p0.s(), t0, p1.s(), t1, t));
    speed_point->set_t(t);
    if (p0.has_v() && p1.has_v()) {
      speed_point->set_v(common::math::lerp(p0.v(), t0, p1.v(), t1, t));
    }
    if (p0.has_a() && p1.has_a()) {
      speed_point->set_a(common::math::lerp(p0.a(), t0, p1.a(), t1, t));
    }
    if (p0.has_da() && p1.has_da()) {
      speed_point->set_da(common::math::lerp(p0.da(), t0, p1.da(), t1, t));
    }
  }
  return true;
}

◆ TotalLength()

double apollo::planning::SpeedData::TotalLength ( ) const

在文件 speed_data.cc 第 147 行定义.

                                    {
  if (empty()) {
    return 0.0;
  }
  return back().s() - front().s();
}

◆ TotalTime()

double apollo::planning::SpeedData::TotalTime ( ) const

在文件 speed_data.cc 第 140 行定义.

                                  {
  if (empty()) {
    return 0.0;
  }
  return back().t() - front().t();
}

该类的文档由以下文件生成:

modules/planning/planning_base/common/speed/speed_data.h
modules/planning/planning_base/common/speed/speed_data.cc

Public 成员函数