apollo::planning::CurveMath Class Reference

#include <curve_math.h>

Collaboration diagram for apollo::planning::CurveMath:

Public Member Functions
	CurveMath ()=delete

Static Public Member Functions
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...
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...

Constructor & Destructor Documentation

CurveMath()

apollo::planning::CurveMath::CurveMath ( )

delete

Member Function Documentation

ComputeCurvature()

static double apollo::planning::CurveMath::ComputeCurvature ( const double  dx, const double  d2x, const double  dy, const double  d2y  )

static

Compute the curvature (kappa) 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

Returns

the curvature

ComputeCurvatureDerivative()

static double apollo::planning::CurveMath::ComputeCurvatureDerivative ( const double  dx, const double  d2x, const double  d3x, const double  dy, const double  d2y, const double  d3y  )

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

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

• modules/planning/math/curve_math.h