apollo::planning::SplineSegKernel类 参考

#include <spline_seg_kernel.h>

apollo::planning::SplineSegKernel 的协作图:

Public 成员函数
Eigen::MatrixXd	Kernel (const uint32_t num_params, const double accumulated_x)
Eigen::MatrixXd	NthDerivativeKernel (const uint32_t n, const uint32_t num_params, const double accumulated_x)

详细描述

在文件 spline_seg_kernel.h 第 36 行定义.

成员函数说明

Kernel()

Eigen::MatrixXd apollo::planning::SplineSegKernel::Kernel	(	const uint32_t	num_params,
		const double	accumulated_x
	)

在文件 spline_seg_kernel.cc 第 37 行定义.

                                                                    {
  if (num_params > reserved_order_ + 1) {
    CalculateFx(num_params);
  }
  Eigen::MatrixXd term_matrix;
  IntegratedTermMatrix(num_params, accumulated_x, "fx", &term_matrix);
  return kernel_fx_.block(0, 0, num_params, num_params)
      .cwiseProduct(term_matrix);
}

NthDerivativeKernel()

Eigen::MatrixXd apollo::planning::SplineSegKernel::NthDerivativeKernel	(	const uint32_t	n,
		const uint32_t	num_params,
		const double	accumulated_x
	)

在文件 spline_seg_kernel.cc 第 48 行定义.

                                                                             {
  if (n == 1) {
    return DerivativeKernel(num_params, accumulated_x);
  } else if (n == 2) {
    return SecondOrderDerivativeKernel(num_params, accumulated_x);
  } else if (n == 3) {
    return ThirdOrderDerivativeKernel(num_params, accumulated_x);
  } else {
    return Eigen::MatrixXd::Zero(num_params, num_params);
  }
}

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该类的文档由以下文件生成:

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