apollo::planning::DpStCost Class Reference

#include <dp_st_cost.h>

Collaboration diagram for apollo::planning::DpStCost:

Public Member Functions
	DpStCost (const DpStSpeedOptimizerConfig &config, const double total_t, const double total_s, const std::vector< const Obstacle *> &obstacles, const STDrivableBoundary &st_drivable_boundary, const common::TrajectoryPoint &init_point)
double	GetObstacleCost (const StGraphPoint &point)
double	GetSpatialPotentialCost (const StGraphPoint &point)
double	GetReferenceCost (const STPoint &point, const STPoint &reference_point) const
double	GetSpeedCost (const STPoint &first, const STPoint &second, const double speed_limit, const double cruise_speed) const
double	GetAccelCostByTwoPoints (const double pre_speed, const STPoint &first, const STPoint &second)
double	GetAccelCostByThreePoints (const STPoint &first, const STPoint &second, const STPoint &third)
double	GetJerkCostByTwoPoints (const double pre_speed, const double pre_acc, const STPoint &pre_point, const STPoint &curr_point)
double	GetJerkCostByThreePoints (const double first_speed, const STPoint &first_point, const STPoint &second_point, const STPoint &third_point)
double	GetJerkCostByFourPoints (const STPoint &first, const STPoint &second, const STPoint &third, const STPoint &fourth)

Constructor & Destructor Documentation

DpStCost()

apollo::planning::DpStCost::DpStCost	(	const DpStSpeedOptimizerConfig &	config,
		const double	total_t,
		const double	total_s,
		const std::vector< const Obstacle *> &	obstacles,
		const STDrivableBoundary &	st_drivable_boundary,
		const common::TrajectoryPoint &	init_point
	)

Member Function Documentation

GetAccelCostByThreePoints()

double apollo::planning::DpStCost::GetAccelCostByThreePoints	(	const STPoint &	first,
		const STPoint &	second,
		const STPoint &	third
	)

GetAccelCostByTwoPoints()

double apollo::planning::DpStCost::GetAccelCostByTwoPoints	(	const double	pre_speed,
		const STPoint &	first,
		const STPoint &	second
	)

GetJerkCostByFourPoints()

double apollo::planning::DpStCost::GetJerkCostByFourPoints	(	const STPoint &	first,
		const STPoint &	second,
		const STPoint &	third,
		const STPoint &	fourth
	)

GetJerkCostByThreePoints()

double apollo::planning::DpStCost::GetJerkCostByThreePoints	(	const double	first_speed,
		const STPoint &	first_point,
		const STPoint &	second_point,
		const STPoint &	third_point
	)

GetJerkCostByTwoPoints()

double apollo::planning::DpStCost::GetJerkCostByTwoPoints	(	const double	pre_speed,
		const double	pre_acc,
		const STPoint &	pre_point,
		const STPoint &	curr_point
	)

GetObstacleCost()

double apollo::planning::DpStCost::GetObstacleCost

(

const StGraphPoint &

point

)

GetReferenceCost()

double apollo::planning::DpStCost::GetReferenceCost	(	const STPoint &	point,
		const STPoint &	reference_point
	)		const

GetSpatialPotentialCost()

double apollo::planning::DpStCost::GetSpatialPotentialCost

(

const StGraphPoint &

point

)

GetSpeedCost()

double apollo::planning::DpStCost::GetSpeedCost	(	const STPoint &	first,
		const STPoint &	second,
		const double	speed_limit,
		const double	cruise_speed
	)		const

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

• modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.h