piecewise_braking_trajectory_generator.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
 
#include "modules/planning/planning_base/common/trajectory1d/piecewise_acceleration_trajectory1d.h"
 
namespace apollo {
namespace planning {
 
class PiecewiseBrakingTrajectoryGenerator {
 public:
  PiecewiseBrakingTrajectoryGenerator() = delete;
 
  static std::shared_ptr<Curve1d> Generate(
      const double s_target, const double s_curr, const double v_target,
      const double v_curr, const double a_comfort, const double d_comfort,
      const double max_time);
 
  static double ComputeStopDistance(const double v, const double dec);
 
  static double ComputeStopDeceleration(const double dist, const double v);
};
 
}  // namespace planning
}  // namespace apollo