#include <spline_2d_seg.h>

apollo::planning::Spline2dSeg 的协作图:

Public 成员函数
	Spline2dSeg (const uint32_t order)

	Spline2dSeg (const std::vector< double > &x_param, const std::vector< double > &y_param)

	~Spline2dSeg ()=default

bool	SetParams (const std::vector< double > &x_param, const std::vector< double > &y_param)

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

const PolynomialXd &	spline_func_x () const

const PolynomialXd &	spline_func_y () const

const PolynomialXd &	DerivativeX () const

const PolynomialXd &	DerivativeY () const

const PolynomialXd &	SecondDerivativeX () const

const PolynomialXd &	SecondDerivativeY () const

const PolynomialXd &	ThirdDerivativeX () const

const PolynomialXd &	ThirdDerivativeY () const

详细描述

在文件 spline_2d_seg.h 第 31 行定义.

构造及析构函数说明

◆ Spline2dSeg() [1/2]

apollo::planning::Spline2dSeg::Spline2dSeg ( const uint32_t order )

explicit

在文件 spline_2d_seg.cc 第 26 行定义.

    : spline_func_x_(order), spline_func_y_(order) {
  derivative_x_ = PolynomialXd::DerivedFrom(spline_func_x_);
  derivative_y_ = PolynomialXd::DerivedFrom(spline_func_y_);
  second_derivative_x_ = PolynomialXd::DerivedFrom(derivative_x_);
  second_derivative_y_ = PolynomialXd::DerivedFrom(derivative_y_);
  third_derivative_x_ = PolynomialXd::DerivedFrom(second_derivative_x_);
  third_derivative_y_ = PolynomialXd::DerivedFrom(second_derivative_y_);
}

◆ Spline2dSeg() [2/2]

apollo::planning::Spline2dSeg::Spline2dSeg	(	const std::vector< double > &	x_param,
		const std::vector< double > &	y_param
	)

在文件 spline_2d_seg.cc 第 36 行定义.

    : spline_func_x_(x_param), spline_func_y_(y_param) {
  derivative_x_ = PolynomialXd::DerivedFrom(spline_func_x_);
  derivative_y_ = PolynomialXd::DerivedFrom(spline_func_y_);
  second_derivative_x_ = PolynomialXd::DerivedFrom(derivative_x_);
  second_derivative_y_ = PolynomialXd::DerivedFrom(derivative_y_);
  third_derivative_x_ = PolynomialXd::DerivedFrom(second_derivative_x_);
  third_derivative_y_ = PolynomialXd::DerivedFrom(second_derivative_y_);
}

◆ ~Spline2dSeg()

apollo::planning::Spline2dSeg::~Spline2dSeg ( )

default

成员函数说明

◆ DerivativeX() [1/2]

const PolynomialXd & apollo::planning::Spline2dSeg::DerivativeX ( ) const

在文件 spline_2d_seg.cc 第 104 行定义.

104{ return derivative_x_; }

◆ DerivativeX() [2/2]

double apollo::planning::Spline2dSeg::DerivativeX ( const double t ) const

在文件 spline_2d_seg.cc 第 72 行定义.

                                                    {
  return derivative_x_(t);
}

◆ DerivativeY() [1/2]

const PolynomialXd & apollo::planning::Spline2dSeg::DerivativeY ( ) const

在文件 spline_2d_seg.cc 第 106 行定义.

106{ return derivative_y_; }

◆ DerivativeY() [2/2]

double apollo::planning::Spline2dSeg::DerivativeY ( const double t ) const

在文件 spline_2d_seg.cc 第 76 行定义.

                                                    {
  return derivative_y_(t);
}

◆ operator()()

std::pair< double, double > apollo::planning::Spline2dSeg::operator() ( const double t ) const

在文件 spline_2d_seg.cc 第 64 行定义.

                                                                    {
  return std::make_pair(spline_func_x_(t), spline_func_y_(t));
}

◆ SecondDerivativeX() [1/2]

const PolynomialXd & apollo::planning::Spline2dSeg::SecondDerivativeX ( ) const

在文件 spline_2d_seg.cc 第 108 行定义.

                                                         {
  return second_derivative_x_;
}

◆ SecondDerivativeX() [2/2]

double apollo::planning::Spline2dSeg::SecondDerivativeX ( const double t ) const

在文件 spline_2d_seg.cc 第 80 行定义.

                                                          {
  return second_derivative_x_(t);
}

◆ SecondDerivativeY() [1/2]

const PolynomialXd & apollo::planning::Spline2dSeg::SecondDerivativeY ( ) const

在文件 spline_2d_seg.cc 第 112 行定义.

                                                         {
  return second_derivative_y_;
}

◆ SecondDerivativeY() [2/2]

double apollo::planning::Spline2dSeg::SecondDerivativeY ( const double t ) const

在文件 spline_2d_seg.cc 第 84 行定义.

                                                          {
  return second_derivative_y_(t);
}

◆ SetParams()

bool apollo::planning::Spline2dSeg::SetParams	(	const std::vector< double > &	x_param,
		const std::vector< double > &	y_param
	)

在文件 spline_2d_seg.cc 第 47 行定义.

                                                              {
  if (x_param.size() != y_param.size()) {
    return false;
  }
 
  spline_func_x_ = PolynomialXd(x_param);
  spline_func_y_ = PolynomialXd(y_param);
  derivative_x_ = PolynomialXd::DerivedFrom(spline_func_x_);
  derivative_y_ = PolynomialXd::DerivedFrom(spline_func_y_);
  second_derivative_x_ = PolynomialXd::DerivedFrom(derivative_x_);
  second_derivative_y_ = PolynomialXd::DerivedFrom(derivative_y_);
  third_derivative_x_ = PolynomialXd::DerivedFrom(second_derivative_x_);
  third_derivative_y_ = PolynomialXd::DerivedFrom(second_derivative_y_);
  return true;
}

◆ spline_func_x()

const PolynomialXd & apollo::planning::Spline2dSeg::spline_func_x ( ) const

在文件 spline_2d_seg.cc 第 96 行定义.

                                                     {
  return spline_func_x_;
}

◆ spline_func_y()

const PolynomialXd & apollo::planning::Spline2dSeg::spline_func_y ( ) const

在文件 spline_2d_seg.cc 第 100 行定义.

                                                     {
  return spline_func_y_;
}

◆ ThirdDerivativeX() [1/2]

const PolynomialXd & apollo::planning::Spline2dSeg::ThirdDerivativeX ( ) const

在文件 spline_2d_seg.cc 第 116 行定义.

                                                        {
  return third_derivative_x_;
}

◆ ThirdDerivativeX() [2/2]

double apollo::planning::Spline2dSeg::ThirdDerivativeX ( const double t ) const

在文件 spline_2d_seg.cc 第 88 行定义.

                                                         {
  return third_derivative_x_(t);
}

◆ ThirdDerivativeY() [1/2]

const PolynomialXd & apollo::planning::Spline2dSeg::ThirdDerivativeY ( ) const

在文件 spline_2d_seg.cc 第 120 行定义.

                                                        {
  return third_derivative_y_;
}

◆ ThirdDerivativeY() [2/2]

double apollo::planning::Spline2dSeg::ThirdDerivativeY ( const double t ) const

在文件 spline_2d_seg.cc 第 92 行定义.

                                                         {
  return third_derivative_y_(t);
}

◆ x()

double apollo::planning::Spline2dSeg::x ( const double t ) const

在文件 spline_2d_seg.cc 第 68 行定义.

68{ return spline_func_x_(t); }

◆ y()

double apollo::planning::Spline2dSeg::y ( const double t ) const

在文件 spline_2d_seg.cc 第 70 行定义.

70{ return spline_func_y_(t); }

该类的文档由以下文件生成:

modules/planning/planning_base/math/smoothing_spline/spline_2d_seg.h
modules/planning/planning_base/math/smoothing_spline/spline_2d_seg.cc

Public 成员函数