apollo::planning::Trajectory1dGenerator类 参考

#include <trajectory1d_generator.h>

apollo::planning::Trajectory1dGenerator 的协作图:

Public 成员函数
	Trajectory1dGenerator (const std::array< double, 3 > &lon_init_state, const std::array< double, 3 > &lat_init_state, std::shared_ptr< PathTimeGraph > ptr_path_time_graph, std::shared_ptr< PredictionQuerier > ptr_prediction_querier)
virtual	~Trajectory1dGenerator ()=default
void	GenerateTrajectoryBundles (const PlanningTarget &planning_target, std::vector< std::shared_ptr< Curve1d > > *ptr_lon_trajectory_bundle, std::vector< std::shared_ptr< Curve1d > > *ptr_lat_trajectory_bundle)
void	GenerateLateralTrajectoryBundle (std::vector< std::shared_ptr< Curve1d > > *ptr_lat_trajectory_bundle) const

详细描述

在文件 trajectory1d_generator.h 第 40 行定义.

构造及析构函数说明

Trajectory1dGenerator()

apollo::planning::Trajectory1dGenerator::Trajectory1dGenerator	(	const std::array< double, 3 > &	lon_init_state,
		const std::array< double, 3 > &	lat_init_state,
		std::shared_ptr< PathTimeGraph >	ptr_path_time_graph,
		std::shared_ptr< PredictionQuerier >	ptr_prediction_querier
	)

在文件 trajectory1d_generator.cc 第 40 行定义.

    : init_lon_state_(lon_init_state),
      init_lat_state_(lat_init_state),
      end_condition_sampler_(lon_init_state, lat_init_state,
                             ptr_path_time_graph, ptr_prediction_querier),
      ptr_path_time_graph_(ptr_path_time_graph) {}

~Trajectory1dGenerator()

virtual apollo::planning::Trajectory1dGenerator::~Trajectory1dGenerator ( )

virtualdefault

成员函数说明

GenerateLateralTrajectoryBundle()

void apollo::planning::Trajectory1dGenerator::GenerateLateralTrajectoryBundle

(

std::vector< std::shared_ptr< Curve1d > > *

ptr_lat_trajectory_bundle

)

const

在文件 trajectory1d_generator.cc 第 120 行定义.

                                                         {
  if (!FLAGS_lateral_optimization) {
    auto end_conditions = end_condition_sampler_.SampleLatEndConditions();
 
    // Use the common function to generate trajectory bundles.
    GenerateTrajectory1DBundle<5>(init_lat_state_, end_conditions,
                                  ptr_lat_trajectory_bundle);
  } else {
    double s_min = init_lon_state_[0];
    double s_max = s_min + FLAGS_max_s_lateral_optimization;
 
    double delta_s = FLAGS_default_delta_s_lateral_optimization;
 
    auto lateral_bounds =
        ptr_path_time_graph_->GetLateralBounds(s_min, s_max, delta_s);
 
    // LateralTrajectoryOptimizer lateral_optimizer;
    std::unique_ptr<LateralQPOptimizer> lateral_optimizer(
        new LateralOSQPOptimizer);
 
    lateral_optimizer->optimize(init_lat_state_, delta_s, lateral_bounds);
 
    auto lateral_trajectory = lateral_optimizer->GetOptimalTrajectory();
 
    ptr_lat_trajectory_bundle->push_back(
        std::make_shared<PiecewiseJerkTrajectory1d>(lateral_trajectory));
  }
}

GenerateTrajectoryBundles()

void apollo::planning::Trajectory1dGenerator::GenerateTrajectoryBundles	(	const PlanningTarget &	planning_target,
		std::vector< std::shared_ptr< Curve1d > > *	ptr_lon_trajectory_bundle,
		std::vector< std::shared_ptr< Curve1d > > *	ptr_lat_trajectory_bundle
	)

在文件 trajectory1d_generator.cc 第 50 行定义.

                                                   {
  GenerateLongitudinalTrajectoryBundle(planning_target,
                                       ptr_lon_trajectory_bundle);
 
  GenerateLateralTrajectoryBundle(ptr_lat_trajectory_bundle);
}

---

该类的文档由以下文件生成:

• modules/planning/planners/lattice/trajectory_generation/trajectory1d_generator.h
• modules/planning/planners/lattice/trajectory_generation/trajectory1d_generator.cc