apollo::planning::Spline1d类 参考

#include <spline_1d.h>

apollo::planning::Spline1d 的协作图:

Public 成员函数
	Spline1d (const std::vector< double > &x_knots, const uint32_t order)
double	operator() (const double x) const
double	Derivative (const double x) const
double	SecondOrderDerivative (const double x) const
double	ThirdOrderDerivative (const double x) const
bool	SetSplineSegs (const Eigen::MatrixXd &param_matrix, const uint32_t order)
const std::vector< double > &	x_knots () const
uint32_t	spline_order () const
const std::vector< Spline1dSeg > &	splines () const

详细描述

在文件 spline_1d.h 第 40 行定义.

构造及析构函数说明

Spline1d()

apollo::planning::Spline1d::Spline1d	(	const std::vector< double > &	x_knots,
		const uint32_t	order
	)

在文件 spline_1d.cc 第 27 行定义.

    : x_knots_(x_knots), spline_order_(order) {
  for (uint32_t i = 1; i < x_knots_.size(); ++i) {
    splines_.emplace_back(spline_order_);
  }
}

成员函数说明

Derivative()

double apollo::planning::Spline1d::Derivative

(

const double

x

)

const

在文件 spline_1d.cc 第 42 行定义.

                                                {
  // zero order spline
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = FindIndex(x);
  return splines_[index].Derivative(x - x_knots_[index]);
}

operator()()

double apollo::planning::Spline1d::operator()

(

const double

x

)

const

在文件 spline_1d.cc 第 34 行定义.

                                                {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = FindIndex(x);
  return splines_[index](x - x_knots_[index]);
}

SecondOrderDerivative()

double apollo::planning::Spline1d::SecondOrderDerivative

(

const double

x

)

const

在文件 spline_1d.cc 第 51 行定义.

                                                           {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = FindIndex(x);
  return splines_[index].SecondOrderDerivative(x - x_knots_[index]);
}

SetSplineSegs()

bool apollo::planning::Spline1d::SetSplineSegs	(	const Eigen::MatrixXd &	param_matrix,
		const uint32_t	order
	)

在文件 spline_1d.cc 第 67 行定义.

                                                   {
  const uint32_t num_params = order + 1;
  // check if the parameter size fit
  if (x_knots_.size() * num_params !=
      num_params + static_cast<uint32_t>(param_matrix.rows())) {
    return false;
  }
  for (uint32_t i = 0; i < splines_.size(); ++i) {
    std::vector<double> spline_piece(num_params, 0.0);
    for (uint32_t j = 0; j < num_params; ++j) {
      spline_piece[j] = param_matrix(i * num_params + j, 0);
    }
    splines_[i].SetParams(spline_piece);
  }
  spline_order_ = order;
  return true;
}

spline_order()

uint32_t apollo::planning::Spline1d::spline_order

(

)

const

在文件 spline_1d.cc 第 88 行定义.

{ return spline_order_; }

splines()

const std::vector< Spline1dSeg > & apollo::planning::Spline1d::splines

(

)

const

在文件 spline_1d.cc 第 90 行定义.

{ return splines_; }

ThirdOrderDerivative()

double apollo::planning::Spline1d::ThirdOrderDerivative

(

const double

x

)

const

在文件 spline_1d.cc 第 59 行定义.

                                                          {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = FindIndex(x);
  return splines_[index].ThirdOrderDerivative(x - x_knots_[index]);
}

x_knots()

const std::vector< double > & apollo::planning::Spline1d::x_knots

(

)

const

在文件 spline_1d.cc 第 86 行定义.

{ return x_knots_; }

---

该类的文档由以下文件生成:

• modules/planning/planning_base/math/smoothing_spline/spline_1d.h
• modules/planning/planning_base/math/smoothing_spline/spline_1d.cc