apollo::control::TrajectoryAnalyzer Class Reference

process point query and conversion related to trajectory More...

#include <trajectory_analyzer.h>

Collaboration diagram for apollo::control::TrajectoryAnalyzer:

Public Member Functions
	TrajectoryAnalyzer ()=default
	constructor More...
	TrajectoryAnalyzer (const planning::ADCTrajectory *planning_published_trajectory)
	constructor More...
	~TrajectoryAnalyzer ()=default
	destructor More...
unsigned int	seq_num ()
	get sequence number of the trajectory More...
common::TrajectoryPoint	QueryNearestPointByAbsoluteTime (const double t) const
	query a point of trajectory that its absolute time is closest to the give time. More...
common::TrajectoryPoint	QueryNearestPointByRelativeTime (const double t) const
	query a point of trajectory that its relative time is closest to the give time. The time is relative to the first pointof trajectory More...
common::TrajectoryPoint	QueryNearestPointByPosition (const double x, const double y) const
	query a point of trajectory that its position is closest to the given position. More...
common::PathPoint	QueryMatchedPathPoint (const double x, const double y) const
	query a point on trajectory that its position is closest to the given position. More...
void	ToTrajectoryFrame (const double x, const double y, const double theta, const double v, const common::PathPoint &matched_point, double *ptr_s, double *ptr_s_dot, double *ptr_d, double *ptr_d_dot) const
	convert a position with theta and speed to trajectory frame, More...
void	TrajectoryTransformToCOM (const double rear_to_com_distance)
	Transform the current trajectory points to the center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass. More...
common::math::Vec2d	ComputeCOMPosition (const double rear_to_com_distance, const common::PathPoint &path_point) const
	Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass. More...
const std::vector< common::TrajectoryPoint > &	trajectory_points () const
	get all points of the trajectory More...

Detailed Description

process point query and conversion related to trajectory

Constructor & Destructor Documentation

TrajectoryAnalyzer() [1/2]

apollo::control::TrajectoryAnalyzer::TrajectoryAnalyzer ( )

default

constructor

TrajectoryAnalyzer() [2/2]

apollo::control::TrajectoryAnalyzer::TrajectoryAnalyzer

(

const planning::ADCTrajectory *

planning_published_trajectory

)

constructor

Parameters

planning_published_trajectory

trajectory data generated by planning module

~TrajectoryAnalyzer()

apollo::control::TrajectoryAnalyzer::~TrajectoryAnalyzer ( )

default

destructor

Member Function Documentation

ComputeCOMPosition()

common::math::Vec2d apollo::control::TrajectoryAnalyzer::ComputeCOMPosition	(	const double	rear_to_com_distance,
		const common::PathPoint &	path_point
	)		const

Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass.

Parameters

rear_to_com_distance	Distance from rear wheels to the vehicle's center of mass.
path_point	PathPoint along the published planning trajectory.

Returns

The position of the vehicle's center of mass.

QueryMatchedPathPoint()

common::PathPoint apollo::control::TrajectoryAnalyzer::QueryMatchedPathPoint	(	const double	x,
		const double	y
	)		const

query a point on trajectory that its position is closest to the given position.

Parameters

x	value of x-coordination in the given position
y	value of y-coordination in the given position

Returns

a point on trajectory, the point may be a point of trajectory or interpolated by two adjacent points of trajectory

QueryNearestPointByAbsoluteTime()

common::TrajectoryPoint apollo::control::TrajectoryAnalyzer::QueryNearestPointByAbsoluteTime

(

const double

t

)

const

query a point of trajectory that its absolute time is closest to the give time.

Parameters

t	absolute time for query

Returns

a point of trajectory

QueryNearestPointByPosition()

common::TrajectoryPoint apollo::control::TrajectoryAnalyzer::QueryNearestPointByPosition	(	const double	x,
		const double	y
	)		const

query a point of trajectory that its position is closest to the given position.

Parameters

x	value of x-coordination in the given position
y	value of y-coordination in the given position

Returns

a point of trajectory

QueryNearestPointByRelativeTime()

common::TrajectoryPoint apollo::control::TrajectoryAnalyzer::QueryNearestPointByRelativeTime

(

const double

t

)

const

query a point of trajectory that its relative time is closest to the give time. The time is relative to the first pointof trajectory

Parameters

t	relative time for query

Returns

a point of trajectory

seq_num()

unsigned int apollo::control::TrajectoryAnalyzer::seq_num ( )

inline

get sequence number of the trajectory

Returns

sequence number.

ToTrajectoryFrame()

void apollo::control::TrajectoryAnalyzer::ToTrajectoryFrame	(	const double	x,
		const double	y,
		const double	theta,
		const double	v,
		const common::PathPoint &	matched_point,
		double *	ptr_s,
		double *	ptr_s_dot,
		double *	ptr_d,
		double *	ptr_d_dot
	)		const

convert a position with theta and speed to trajectory frame,

• longitudinal and lateral direction to the trajectory

  Parameters

  x	x-value of the position
  y	y-value of the position
  theta	heading angle on the position
  v	speed on the position
  matched_point	matched point on trajectory for the given position
  ptr_s	longitudinal distance
  ptr_s_dot	longitudinal speed
  ptr_d	lateral distance
  ptr_d_dot	lateral speed

trajectory_points()

const std::vector<common::TrajectoryPoint>& apollo::control::TrajectoryAnalyzer::trajectory_points

(

)

const

get all points of the trajectory

Returns

a vector of trajectory points

TrajectoryTransformToCOM()

void apollo::control::TrajectoryAnalyzer::TrajectoryTransformToCOM

(

const double

rear_to_com_distance

)

Transform the current trajectory points to the center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass.

Parameters

rear_to_com_distance

Distance from rear wheels to the vehicle's center of mass.

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The documentation for this class was generated from the following file:

• modules/control/common/trajectory_analyzer.h