Apollo 10.0
自动驾驶开放平台
apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig结构体 参考
apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig 的协作图:

Public 属性

optional double acc_weight = 1 [default = 500.0]
 
optional double jerk_weight = 2 [default = 100.0]
 
optional double lat_acc_weight = 3 [default = 500.0]
 
optional double s_potential_weight = 4 [default = 10.0]
 
optional double ref_v_weight = 5 [default = 10.0]
 
optional double ref_s_weight = 6 [default = 10.0]
 
optional double end_s_weight = 7 [default = 10.0]
 
optional double end_v_weight = 8 [default = 10.0]
 
optional double end_a_weight = 9 [default = 10.0]
 
optional double soft_s_bound_weight = 10 [default = 10.0]
 
optional bool use_warm_start = 100 [default = true]
 
optional bool use_smoothed_dp_guide_line = 101 [default = false]
 
optional bool use_soft_bound_in_nonlinear_speed_opt = 102 [default = true]
 

详细描述

在文件 piecewise_jerk_speed_nonlinear.proto8 行定义.

类成员变量说明

◆ acc_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::acc_weight = 1 [default = 500.0]

在文件 piecewise_jerk_speed_nonlinear.proto10 行定义.

◆ end_a_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::end_a_weight = 9 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto26 行定义.

◆ end_s_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::end_s_weight = 7 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto24 行定义.

◆ end_v_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::end_v_weight = 8 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto25 行定义.

◆ jerk_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::jerk_weight = 2 [default = 100.0]

在文件 piecewise_jerk_speed_nonlinear.proto11 行定义.

◆ lat_acc_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::lat_acc_weight = 3 [default = 500.0]

在文件 piecewise_jerk_speed_nonlinear.proto12 行定义.

◆ ref_s_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::ref_s_weight = 6 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto21 行定义.

◆ ref_v_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::ref_v_weight = 5 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto18 行定义.

◆ s_potential_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::s_potential_weight = 4 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto15 行定义.

◆ soft_s_bound_weight

optional double apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::soft_s_bound_weight = 10 [default = 10.0]

在文件 piecewise_jerk_speed_nonlinear.proto29 行定义.

◆ use_smoothed_dp_guide_line

optional bool apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::use_smoothed_dp_guide_line = 101 [default = false]

在文件 piecewise_jerk_speed_nonlinear.proto34 行定义.

◆ use_soft_bound_in_nonlinear_speed_opt

optional bool apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::use_soft_bound_in_nonlinear_speed_opt = 102 [default = true]

在文件 piecewise_jerk_speed_nonlinear.proto36 行定义.

◆ use_warm_start

optional bool apollo::planning::PiecewiseJerkNonlinearSpeedOptimizerConfig::use_warm_start = 100 [default = true]

在文件 piecewise_jerk_speed_nonlinear.proto32 行定义.


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