#include <curve_math.h>
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| static double | ComputeCurvature (const double dx, const double d2x, const double dy, const double d2y) |
| | Compute the curvature (kappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter. More...
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| static double | ComputeCurvatureDerivative (const double dx, const double d2x, const double d3x, const double dy, const double d2y, const double d3y) |
| | Compute the curvature change rate w.r.t. curve length (dkappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter. More...
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◆ CurveMath()
| apollo::planning::CurveMath::CurveMath |
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delete |
◆ ComputeCurvature()
| static double apollo::planning::CurveMath::ComputeCurvature |
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const double |
dx, |
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const double |
d2x, |
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const double |
dy, |
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const double |
d2y |
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static |
Compute the curvature (kappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter.
- Parameters
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| dx | dx / dt |
| d2x | d(dx) / dt |
| dy | dy / dt |
| d2y | d(dy) / dt |
- Returns
- the curvature
◆ ComputeCurvatureDerivative()
| static double apollo::planning::CurveMath::ComputeCurvatureDerivative |
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const double |
dx, |
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const double |
d2x, |
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const double |
d3x, |
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const double |
dy, |
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const double |
d2y, |
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const double |
d3y |
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) |
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static |
Compute the curvature change rate w.r.t. curve length (dkappa) given curve X = (x(t), y(t)) which t is an arbitrary parameter.
- Parameters
-
| dx | dx / dt |
| d2x | d(dx) / dt |
| dy | dy / dt |
| d2y | d(dy) / dt |
| d3x | d(d2x) / dt |
| d3y | d(d2y) / dt |
- Returns
- the curvature change rate
The documentation for this class was generated from the following file:
