#include <spline_1d_kernel.h>

apollo::planning::Spline1dKernel 的协作图:

Public 成员函数
	Spline1dKernel (const Spline1d &spline1d)

	Spline1dKernel (const std::vector< double > &x_knots, const uint32_t spline_order)

void	AddRegularization (const double regularized_param)

bool	AddKernel (const Eigen::MatrixXd &kernel, const Eigen::MatrixXd &offset, const double weight)

bool	AddKernel (const Eigen::MatrixXd &kernel, const double weight)

Eigen::MatrixXd *	mutable_kernel_matrix ()

Eigen::MatrixXd *	mutable_offset ()

const Eigen::MatrixXd &	kernel_matrix () const

const Eigen::MatrixXd &	offset () const

void	AddDerivativeKernelMatrix (const double weight)

void	AddSecondOrderDerivativeMatrix (const double weight)

void	AddThirdOrderDerivativeMatrix (const double weight)

void	AddDerivativeKernelMatrixForSplineK (const uint32_t k, const double weight)

void	AddSecondOrderDerivativeMatrixForSplineK (const uint32_t k, const double weight)

void	AddThirdOrderDerivativeMatrixForSplineK (const uint32_t k, const double weight)

bool	AddReferenceLineKernelMatrix (const std::vector< double > &x_coord, const std::vector< double > &ref_fx, const double weight)

void	AddDistanceOffset (const double weight)

详细描述

在文件 spline_1d_kernel.h 第 34 行定义.

构造及析构函数说明

◆ Spline1dKernel() [1/2]

apollo::planning::Spline1dKernel::Spline1dKernel ( const Spline1d & spline1d )

explicit

在文件 spline_1d_kernel.cc 第 33 行定义.

34 : Spline1dKernel(spline1d.x_knots(), spline1d.spline_order()) {}

apollo::planning::Spline1dKernel::Spline1dKernel

Spline1dKernel(const Spline1d &spline1d)

Definition spline_1d_kernel.cc:33

◆ Spline1dKernel() [2/2]

apollo::planning::Spline1dKernel::Spline1dKernel	(	const std::vector< double > &	x_knots,
		const uint32_t	spline_order
	)

在文件 spline_1d_kernel.cc 第 36 行定义.

    : x_knots_(x_knots), spline_order_(spline_order) {
  total_params_ =
      (static_cast<uint32_t>(x_knots.size()) > 1
           ? (static_cast<uint32_t>(x_knots.size()) - 1) * (1 + spline_order_)
           : 0);
  kernel_matrix_ = Eigen::MatrixXd::Zero(total_params_, total_params_);
  offset_ = Eigen::MatrixXd::Zero(total_params_, 1);
}

成员函数说明

◆ AddDerivativeKernelMatrix()

void apollo::planning::Spline1dKernel::AddDerivativeKernelMatrix ( const double weight )

在文件 spline_1d_kernel.cc 第 99 行定义.

                                                                  {
  AddNthDerivativekernelMatrix(1, weight);
}

◆ AddDerivativeKernelMatrixForSplineK()

void apollo::planning::Spline1dKernel::AddDerivativeKernelMatrixForSplineK	(	const uint32_t	k,
		const double	weight
	)

在文件 spline_1d_kernel.cc 第 129 行定义.

                                                                              {
  AddNthDerivativekernelMatrixForSplineK(1, k, weight);
}

◆ AddDistanceOffset()

void apollo::planning::Spline1dKernel::AddDistanceOffset ( const double weight )

在文件 spline_1d_kernel.cc 第 190 行定义.

                                                          {
  for (uint32_t i = 1; i < x_knots_.size(); ++i) {
    const double cur_x = x_knots_[i] - x_knots_[i - 1];
    double pw_x = 2.0 * weight;
    for (uint32_t j = 0; j < spline_order_ + 1; ++j) {
      offset_((i - 1) * (spline_order_ + 1) + j, 0) -= pw_x;
      pw_x *= cur_x;
    }
  }
}

◆ AddKernel() [1/2]

bool apollo::planning::Spline1dKernel::AddKernel	(	const Eigen::MatrixXd &	kernel,
		const double	weight
	)

在文件 spline_1d_kernel.cc 第 66 行定义.

                                                    {
  Eigen::MatrixXd offset = Eigen::MatrixXd::Zero(kernel.rows(), 1);
  return AddKernel(kernel, offset, weight);
}

◆ AddKernel() [2/2]

bool apollo::planning::Spline1dKernel::AddKernel	(	const Eigen::MatrixXd &	kernel,
		const Eigen::MatrixXd &	offset,
		const double	weight
	)

在文件 spline_1d_kernel.cc 第 53 行定义.

                                                    {
  if (kernel.rows() != kernel.cols() ||
      kernel.rows() != kernel_matrix_.rows() || offset.cols() != 1 ||
      offset.rows() != offset_.rows()) {
    return false;
  }
  kernel_matrix_ += kernel * weight;
  offset_ += offset * weight;
  return true;
}

◆ AddReferenceLineKernelMatrix()

bool apollo::planning::Spline1dKernel::AddReferenceLineKernelMatrix	(	const std::vector< double > &	x_coord,
		const std::vector< double > &	ref_fx,
		const double	weight
	)

在文件 spline_1d_kernel.cc 第 144 行定义.

                         {
  if (ref_x.size() != x_coord.size()) {
    return false;
  }
 
  const uint32_t num_params = spline_order_ + 1;
  for (size_t i = 0; i < x_coord.size(); ++i) {
    auto cur_index = FindIndex(x_coord[i]);
    double cur_rel_x = x_coord[i] - x_knots_[cur_index];
    // update offset
    double offset_coef = -2.0 * ref_x[i] * weight;
    for (size_t j = 0; j < num_params; ++j) {
      offset_(j + cur_index * num_params, 0) += offset_coef;
      offset_coef *= cur_rel_x;
    }
    // update kernel matrix
    Eigen::MatrixXd ref_kernel(num_params, num_params);
 
    double cur_x = 1.0;
    std::vector<double> power_x;
    for (uint32_t n = 0; n + 1 < 2 * num_params; ++n) {
      power_x.emplace_back(cur_x);
      cur_x *= cur_rel_x;
    }
 
    for (uint32_t r = 0; r < num_params; ++r) {
      for (uint32_t c = 0; c < num_params; ++c) {
        ref_kernel(r, c) = 2.0 * power_x[r + c];
      }
    }
 
    kernel_matrix_.block(cur_index * num_params, cur_index * num_params,
                         num_params, num_params) += weight * ref_kernel;
  }
  return true;
}

◆ AddRegularization()

void apollo::planning::Spline1dKernel::AddRegularization ( const double regularized_param )

在文件 spline_1d_kernel.cc 第 47 行定义.

                                                                     {
  Eigen::MatrixXd id_matrix =
      Eigen::MatrixXd::Identity(kernel_matrix_.rows(), kernel_matrix_.cols());
  kernel_matrix_ += 2.0 * id_matrix * regularized_param;
}

◆ AddSecondOrderDerivativeMatrix()

void apollo::planning::Spline1dKernel::AddSecondOrderDerivativeMatrix ( const double weight )

在文件 spline_1d_kernel.cc 第 103 行定义.

                                                                       {
  AddNthDerivativekernelMatrix(2, weight);
}

◆ AddSecondOrderDerivativeMatrixForSplineK()

void apollo::planning::Spline1dKernel::AddSecondOrderDerivativeMatrixForSplineK	(	const uint32_t	k,
		const double	weight
	)

在文件 spline_1d_kernel.cc 第 134 行定义.

                                           {
  AddNthDerivativekernelMatrixForSplineK(2, k, weight);
}

◆ AddThirdOrderDerivativeMatrix()

void apollo::planning::Spline1dKernel::AddThirdOrderDerivativeMatrix ( const double weight )

在文件 spline_1d_kernel.cc 第 107 行定义.

                                                                      {
  AddNthDerivativekernelMatrix(3, weight);
}

◆ AddThirdOrderDerivativeMatrixForSplineK()

void apollo::planning::Spline1dKernel::AddThirdOrderDerivativeMatrixForSplineK	(	const uint32_t	k,
		const double	weight
	)

在文件 spline_1d_kernel.cc 第 139 行定义.

                                           {
  AddNthDerivativekernelMatrixForSplineK(3, k, weight);
}

◆ kernel_matrix()

const Eigen::MatrixXd & apollo::planning::Spline1dKernel::kernel_matrix ( ) const

在文件 spline_1d_kernel.cc 第 78 行定义.

                                                         {
  return kernel_matrix_;
}

◆ mutable_kernel_matrix()

Eigen::MatrixXd * apollo::planning::Spline1dKernel::mutable_kernel_matrix ( )

在文件 spline_1d_kernel.cc 第 72 行定义.

                                                     {
  return &kernel_matrix_;
}

◆ mutable_offset()

Eigen::MatrixXd * apollo::planning::Spline1dKernel::mutable_offset ( )

在文件 spline_1d_kernel.cc 第 76 行定义.

76{ return &offset_; }

◆ offset()

const Eigen::MatrixXd & apollo::planning::Spline1dKernel::offset ( ) const

在文件 spline_1d_kernel.cc 第 82 行定义.

82{ return offset_; }

该类的文档由以下文件生成:

modules/planning/planning_base/math/smoothing_spline/spline_1d_kernel.h
modules/planning/planning_base/math/smoothing_spline/spline_1d_kernel.cc

Public 成员函数