apollo::planning::Spline2d类 参考

#include <spline_2d.h>

apollo::planning::Spline2d 的协作图:

Public 成员函数
	Spline2d (const std::vector< double > &t_knots, const uint32_t order)
std::pair< double, double >	operator() (const double t) const
double	x (const double t) const
double	y (const double t) const
double	DerivativeX (const double t) const
double	DerivativeY (const double t) const
double	SecondDerivativeX (const double t) const
double	SecondDerivativeY (const double t) const
double	ThirdDerivativeX (const double t) const
double	ThirdDerivativeY (const double t) const
bool	set_splines (const Eigen::MatrixXd &params, const uint32_t order)
	: set splines
const Spline2dSeg &	smoothing_spline (const uint32_t index) const
const std::vector< double > &	t_knots () const
uint32_t	spline_order () const

详细描述

在文件 spline_2d.h 第 35 行定义.

构造及析构函数说明

Spline2d()

apollo::planning::Spline2d::Spline2d	(	const std::vector< double > &	t_knots,
		const uint32_t	order
	)

在文件 spline_2d.cc 第 28 行定义.

    : t_knots_(t_knots), spline_order_(order) {
  if (t_knots.size() > 1) {
    for (uint32_t i = 1; i < t_knots_.size(); ++i) {
      splines_.emplace_back(spline_order_);
    }
  }
}

成员函数说明

DerivativeX()

double apollo::planning::Spline2d::DerivativeX

(

const double

t

)

const

在文件 spline_2d.cc 第 61 行定义.

                                                 {
  // zero order spline
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].DerivativeX(t - t_knots_[index]);
}

DerivativeY()

double apollo::planning::Spline2d::DerivativeY

(

const double

t

)

const

在文件 spline_2d.cc 第 70 行定义.

                                                 {
  // zero order spline
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].DerivativeY(t - t_knots_[index]);
}

operator()()

std::pair< double, double > apollo::planning::Spline2d::operator()

(

const double

t

)

const

在文件 spline_2d.cc 第 37 行定义.

                                                                 {
  if (splines_.empty()) {
    return std::make_pair(0.0, 0.0);
  }
  uint32_t index = find_index(t);
  return splines_[index](t - t_knots_[index]);
}

SecondDerivativeX()

double apollo::planning::Spline2d::SecondDerivativeX

(

const double

t

)

const

在文件 spline_2d.cc 第 79 行定义.

                                                       {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].SecondDerivativeX(t - t_knots_[index]);
}

SecondDerivativeY()

double apollo::planning::Spline2d::SecondDerivativeY

(

const double

t

)

const

在文件 spline_2d.cc 第 87 行定义.

                                                       {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].SecondDerivativeY(t - t_knots_[index]);
}

set_splines()

bool apollo::planning::Spline2d::set_splines	(	const Eigen::MatrixXd &	params,
		const uint32_t	order
	)

: set splines

在文件 spline_2d.cc 第 113 行定义.

                                                 {
  const uint32_t num_params = order + 1;
  // check if the parameter size fit
  if (2 * t_knots_.size() * num_params !=
      2 * num_params + static_cast<uint32_t>(params.rows())) {
    return false;
  }
  for (uint32_t i = 0; i < splines_.size(); ++i) {
    std::vector<double> spline_piece_x(num_params, 0.0);
    std::vector<double> spline_piece_y(num_params, 0.0);
    for (uint32_t j = 0; j < num_params; ++j) {
      spline_piece_x[j] = params(2 * i * num_params + j, 0);
      spline_piece_y[j] = params((2 * i + 1) * num_params + j, 0);
    }
    splines_[i].SetParams(spline_piece_x, spline_piece_y);
  }
  spline_order_ = order;
  return true;
}

smoothing_spline()

const Spline2dSeg & apollo::planning::Spline2d::smoothing_spline

(

const uint32_t

index

)

const

在文件 spline_2d.cc 第 134 行定义.

                                                                        {
  return splines_[index];
}

spline_order()

uint32_t apollo::planning::Spline2d::spline_order

(

)

const

在文件 spline_2d.cc 第 140 行定义.

{ return spline_order_; }

t_knots()

const std::vector< double > & apollo::planning::Spline2d::t_knots

(

)

const

在文件 spline_2d.cc 第 138 行定义.

{ return t_knots_; }

ThirdDerivativeX()

double apollo::planning::Spline2d::ThirdDerivativeX

(

const double

t

)

const

在文件 spline_2d.cc 第 95 行定义.

                                                      {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].ThirdDerivativeX(t - t_knots_[index]);
}

ThirdDerivativeY()

double apollo::planning::Spline2d::ThirdDerivativeY

(

const double

t

)

const

在文件 spline_2d.cc 第 103 行定义.

                                                      {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].ThirdDerivativeY(t - t_knots_[index]);
}

x()

double apollo::planning::Spline2d::x

(

const double

t

)

const

在文件 spline_2d.cc 第 45 行定义.

                                       {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].x(t - t_knots_[index]);
}

y()

double apollo::planning::Spline2d::y

(

const double

t

)

const

在文件 spline_2d.cc 第 53 行定义.

                                       {
  if (splines_.empty()) {
    return 0.0;
  }
  uint32_t index = find_index(t);
  return splines_[index].y(t - t_knots_[index]);
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/math/smoothing_spline/spline_2d.h
• modules/planning/planning_base/math/smoothing_spline/spline_2d.cc