apollo::planning::LateralQPOptimizer Class Reference

#include <lateral_qp_optimizer.h>

Inheritance diagram for apollo::planning::LateralQPOptimizer:

Collaboration diagram for apollo::planning::LateralQPOptimizer:

Public Member Functions
	LateralQPOptimizer ()=default
virtual	~LateralQPOptimizer ()=default
virtual bool	optimize (const std::array< double, 3 > &d_state, const double delta_s, const std::vector< std::pair< double, double >> &d_bounds)=0
virtual PiecewiseJerkTrajectory1d	GetOptimalTrajectory () const
virtual std::vector< common::FrenetFramePoint >	GetFrenetFramePath () const

Protected Attributes
double	delta_s_ = FLAGS_default_delta_s_lateral_optimization
std::vector< double >	opt_d_
std::vector< double >	opt_d_prime_
std::vector< double >	opt_d_pprime_

Constructor & Destructor Documentation

LateralQPOptimizer()

apollo::planning::LateralQPOptimizer::LateralQPOptimizer ( )

default

~LateralQPOptimizer()

virtual apollo::planning::LateralQPOptimizer::~LateralQPOptimizer ( )

virtualdefault

Member Function Documentation

GetFrenetFramePath()

virtual std::vector<common::FrenetFramePoint> apollo::planning::LateralQPOptimizer::GetFrenetFramePath ( ) const

virtual

GetOptimalTrajectory()

virtual PiecewiseJerkTrajectory1d apollo::planning::LateralQPOptimizer::GetOptimalTrajectory ( ) const

virtual

optimize()

virtual bool apollo::planning::LateralQPOptimizer::optimize ( const std::array< double, 3 > &  d_state, const double  delta_s, const std::vector< std::pair< double, double >> &  d_bounds  )

pure virtual

Implemented in apollo::planning::LateralOSQPOptimizer.

Member Data Documentation

delta_s_

double apollo::planning::LateralQPOptimizer::delta_s_ = FLAGS_default_delta_s_lateral_optimization

protected

opt_d_

std::vector<double> apollo::planning::LateralQPOptimizer::opt_d_

protected

opt_d_pprime_

std::vector<double> apollo::planning::LateralQPOptimizer::opt_d_pprime_

protected

opt_d_prime_

std::vector<double> apollo::planning::LateralQPOptimizer::opt_d_prime_

protected

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

• modules/planning/lattice/trajectory_generation/lateral_qp_optimizer.h