apollo::prediction::ValidationChecker类 参考

#include <validation_checker.h>

apollo::prediction::ValidationChecker 的协作图:

静态 Public 成员函数
static double	ProbabilityByCentripetalAcceleration (const LaneSequence &lane_sequence, const double speed)
	Compute the probability by centripetal acceleration
static bool	ValidCentripetalAcceleration (const std::vector< common::TrajectoryPoint > &discretized_trajectory)
	Check the validity of trajectory's centripetal acceleration
static bool	ValidTrajectoryPoint (const common::TrajectoryPoint &trajectory_point)
	Check if a trajectory point is valid

详细描述

在文件 validation_checker.h 第 30 行定义.

成员函数说明

ProbabilityByCentripetalAcceleration()

double apollo::prediction::ValidationChecker::ProbabilityByCentripetalAcceleration ( const LaneSequence &  lane_sequence, const double  speed  )

static

Compute the probability by centripetal acceleration

参数

lane	sequence
current	speed of obstacle

返回

probability

在文件 validation_checker.cc 第 27 行定义.

                                                           {
  double centripetal_acc_cost_sum = 0.0;
  double centripetal_acc_cost_sqr_sum = 0.0;
  for (int i = 0; i < lane_sequence.path_point_size(); ++i) {
    const auto& path_point = lane_sequence.path_point(i);
    double centripetal_acc = speed * speed * std::fabs(path_point.kappa());
    double centripetal_acc_cost =
        centripetal_acc / FLAGS_centripedal_acc_threshold;
    centripetal_acc_cost_sum += centripetal_acc_cost;
    centripetal_acc_cost_sqr_sum += centripetal_acc_cost * centripetal_acc_cost;
  }
  double mean_cost = centripetal_acc_cost_sqr_sum /
                     (centripetal_acc_cost_sum + FLAGS_double_precision);
  return std::exp(-FLAGS_centripetal_acc_coeff * mean_cost);
}

ValidCentripetalAcceleration()

bool apollo::prediction::ValidationChecker::ValidCentripetalAcceleration ( const std::vector< common::TrajectoryPoint > &  discretized_trajectory )

static

Check the validity of trajectory's centripetal acceleration

参数

The	discretized trajectory

返回

The validity of trajectory's centripetal acceleration

在文件 validation_checker.cc 第 44 行定义.

                                                         {
  for (size_t i = 0; i + 1 < trajectory_points.size(); ++i) {
    const auto& p0 = trajectory_points[i];
    const auto& p1 = trajectory_points[i + 1];
    double time_diff = std::abs(p1.relative_time() - p0.relative_time());
    if (time_diff < FLAGS_double_precision) {
      continue;
    }
 
    double theta_diff = std::abs(common::math::NormalizeAngle(
        p1.path_point().theta() - p0.path_point().theta()));
    double v = (p0.v() + p1.v()) * 0.5;
    double angular_a = v * theta_diff / time_diff;
    if (angular_a > FLAGS_centripedal_acc_threshold) {
      return false;
    }
  }
  return true;
}

ValidTrajectoryPoint()

bool apollo::prediction::ValidationChecker::ValidTrajectoryPoint ( const common::TrajectoryPoint &  trajectory_point )

static

Check if a trajectory point is valid

参数

A	trajectory point

返回

True if the trajectory point is valid

在文件 validation_checker.cc 第 65 行定义.

                                             {
  return trajectory_point.has_path_point() &&
         (!std::isnan(trajectory_point.path_point().x())) &&
         (!std::isnan(trajectory_point.path_point().y())) &&
         (!std::isnan(trajectory_point.path_point().theta())) &&
         (!std::isnan(trajectory_point.v())) &&
         (!std::isnan(trajectory_point.a())) &&
         (!std::isnan(trajectory_point.relative_time()));
}

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该类的文档由以下文件生成:

• modules/prediction/common/validation_checker.h
• modules/prediction/common/validation_checker.cc