apollo::planning::Spline1dSolver类 参考

#include <spline_1d_solver.h>

类 apollo::planning::Spline1dSolver 继承关系图:

apollo::planning::Spline1dSolver 的协作图:

Public 成员函数
	Spline1dSolver (const std::vector< double > &x_knots, const uint32_t order)
virtual	~Spline1dSolver ()=default
virtual void	Reset (const std::vector< double > &x_knots, const uint32_t order)
virtual Spline1dConstraint *	mutable_spline_constraint ()
virtual Spline1dKernel *	mutable_spline_kernel ()
virtual bool	Solve ()=0
virtual const Spline1d &	spline () const
void	GenerateProblemProto (QuadraticProgrammingProblem *const qp_proto) const

Protected 成员函数
void	ConvertMatrixXdToProto (const Eigen::MatrixXd &matrix, QPMatrix *const proto) const

Protected 属性
Spline1d	spline_
Spline1dConstraint	constraint_
Spline1dKernel	kernel_
int	last_num_constraint_ = 0
int	last_num_param_ = 0
bool	last_problem_success_ = false

详细描述

在文件 spline_1d_solver.h 第 37 行定义.

构造及析构函数说明

Spline1dSolver()

apollo::planning::Spline1dSolver::Spline1dSolver ( const std::vector< double > &  x_knots, const uint32_t  order  )

inline

在文件 spline_1d_solver.h 第 39 行定义.

      : spline_(x_knots, order),
        constraint_(x_knots, order),
        kernel_(x_knots, order) {}

~Spline1dSolver()

virtual apollo::planning::Spline1dSolver::~Spline1dSolver ( )

virtualdefault

成员函数说明

ConvertMatrixXdToProto()

void apollo::planning::Spline1dSolver::ConvertMatrixXdToProto ( const Eigen::MatrixXd &  matrix, QPMatrix *const  proto  ) const

protected

在文件 spline_1d_solver.cc 第 72 行定义.

                                                                         {
  int row_size = static_cast<int>(matrix.rows());
  int col_size = static_cast<int>(matrix.cols());
 
  proto->set_row_size(row_size);
  proto->set_col_size(col_size);
 
  for (int r = 0; r < row_size; ++r) {
    for (int c = 0; c < col_size; ++c) {
      proto->add_element(matrix(r, c));
    }
  }
}

GenerateProblemProto()

void apollo::planning::Spline1dSolver::GenerateProblemProto

(

QuadraticProgrammingProblem *const

qp_proto

)

const

在文件 spline_1d_solver.cc 第 28 行定义.

                                                       {
  const MatrixXd& kernel_matrix = kernel_.kernel_matrix();
  const MatrixXd& offset = kernel_.offset();
  const MatrixXd& inequality_constraint_matrix =
      constraint_.inequality_constraint().constraint_matrix();
  const MatrixXd& inequality_constraint_boundary =
      constraint_.inequality_constraint().constraint_boundary();
  const MatrixXd& equality_constraint_matrix =
      constraint_.equality_constraint().constraint_matrix();
  const MatrixXd& equality_constraint_boundary =
      constraint_.equality_constraint().constraint_boundary();
 
  qp_proto->set_param_size(static_cast<int32_t>(kernel_matrix.rows()));
  ConvertMatrixXdToProto(kernel_matrix, qp_proto->mutable_quadratic_matrix());
 
  for (int i = 0; i < offset.rows(); ++i) {
    qp_proto->add_bias(offset(i, 0));
  }
 
  ConvertMatrixXdToProto(inequality_constraint_matrix,
                         qp_proto->mutable_inequality_matrix());
 
  for (int i = 0; i < inequality_constraint_boundary.rows(); ++i) {
    qp_proto->add_inequality_value(inequality_constraint_boundary(i, 0));
  }
 
  ConvertMatrixXdToProto(equality_constraint_matrix,
                         qp_proto->mutable_equality_matrix());
 
  for (int i = 0; i < equality_constraint_boundary.rows(); ++i) {
    qp_proto->add_equality_value(equality_constraint_boundary(i, 0));
  }
 
  // add the optimal solution
  const auto& splines = spline_.splines();
  for (const auto& spline_seg : splines) {
    const auto& param_seg = spline_seg.spline_func().params();
    for (const auto value : param_seg) {
      qp_proto->add_optimal_param(value);
    }
  }
}

mutable_spline_constraint()

virtual Spline1dConstraint * apollo::planning::Spline1dSolver::mutable_spline_constraint ( )

inlinevirtual

在文件 spline_1d_solver.h 第 52 行定义.

                                                          {
    return &constraint_;
  }

mutable_spline_kernel()

virtual Spline1dKernel * apollo::planning::Spline1dSolver::mutable_spline_kernel ( )

inlinevirtual

在文件 spline_1d_solver.h 第 56 行定义.

{ return &kernel_; }

Reset()

virtual void apollo::planning::Spline1dSolver::Reset ( const std::vector< double > &  x_knots, const uint32_t  order  )

inlinevirtual

在文件 spline_1d_solver.h 第 46 行定义.

                                                                             {
    spline_ = Spline1d(x_knots, order);
    constraint_ = Spline1dConstraint(x_knots, order);
    kernel_ = Spline1dKernel(x_knots, order);
  }

Solve()

virtual bool apollo::planning::Spline1dSolver::Solve ( )

pure virtual

在 apollo::planning::OsqpSpline1dSolver 内被实现.

spline()

virtual const Spline1d & apollo::planning::Spline1dSolver::spline ( ) const

inlinevirtual

在文件 spline_1d_solver.h 第 61 行定义.

{ return spline_; }

类成员变量说明

constraint_

Spline1dConstraint apollo::planning::Spline1dSolver::constraint_

protected

在文件 spline_1d_solver.h 第 72 行定义.

kernel_

Spline1dKernel apollo::planning::Spline1dSolver::kernel_

protected

在文件 spline_1d_solver.h 第 73 行定义.

last_num_constraint_

int apollo::planning::Spline1dSolver::last_num_constraint_ = 0

protected

在文件 spline_1d_solver.h 第 75 行定义.

last_num_param_

int apollo::planning::Spline1dSolver::last_num_param_ = 0

protected

在文件 spline_1d_solver.h 第 76 行定义.

last_problem_success_

bool apollo::planning::Spline1dSolver::last_problem_success_ = false

protected

在文件 spline_1d_solver.h 第 77 行定义.

spline_

Spline1d apollo::planning::Spline1dSolver::spline_

protected

在文件 spline_1d_solver.h 第 71 行定义.

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该类的文档由以下文件生成:

• modules/planning/planning_base/math/smoothing_spline/spline_1d_solver.h
• modules/planning/planning_base/math/smoothing_spline/spline_1d_solver.cc