apollo::planning::NaviSpeedTsGraph Class Reference

NaviSpeedTsGraph is used to generate a t-s graph with some limits and preferred. More...

#include <navi_speed_ts_graph.h>

Collaboration diagram for apollo::planning::NaviSpeedTsGraph:

Public Member Functions
	NaviSpeedTsGraph ()
void	Reset (double s_step, double s_max, double start_v, double start_a, double start_da)
	Reset points's num and time step etc. More...
void	UpdateConstraints (const NaviSpeedTsConstraints &constraints)
	Assign constraints to all points. More...
void	UpdateRangeConstraints (double start_s, double end_s, const NaviSpeedTsConstraints &constraints)
	Assign constraints to a range. More...
void	UpdateObstacleConstraints (double distance, double safe_distance, double following_accel_ratio, double v, double cruise_speed)
	Assign constraints for an obstacle. More...
apollo::common::Status	Solve (std::vector< NaviSpeedTsPoint > *points)
	Solving the t-s curve. More...

Detailed Description

NaviSpeedTsGraph is used to generate a t-s graph with some limits and preferred.

Constructor & Destructor Documentation

NaviSpeedTsGraph()

apollo::planning::NaviSpeedTsGraph::NaviSpeedTsGraph

(

)

Member Function Documentation

Reset()

void apollo::planning::NaviSpeedTsGraph::Reset	(	double	s_step,
		double	s_max,
		double	start_v,
		double	start_a,
		double	start_da
	)

Reset points's num and time step etc.

Parameters

s_step	S step between two points.
s_max	Max of s-axis.
start_v	V of the start point.
start_a	A of the start point.
start_da	Da of the start point.

Solve()

apollo::common::Status apollo::planning::NaviSpeedTsGraph::Solve

(

std::vector< NaviSpeedTsPoint > *

points

)

Solving the t-s curve.

Parameters

points

buffer of t-s points for output.

Returns

Status::OK() if success; error otherwise.

UpdateConstraints()

void apollo::planning::NaviSpeedTsGraph::UpdateConstraints

(

const NaviSpeedTsConstraints &

constraints

)

Assign constraints to all points.

Parameters

constraints

constraints for all points.

UpdateObstacleConstraints()

void apollo::planning::NaviSpeedTsGraph::UpdateObstacleConstraints	(	double	distance,
		double	safe_distance,
		double	following_accel_ratio,
		double	v,
		double	cruise_speed
	)

Assign constraints for an obstacle.

Parameters

distance	The distance from vehicle to the obstacle.
safe_distance	The safe distance from vehicle to the obstacle.
following_accel_ratio	Decide the level of acceleration when following obstacle.
v	Speed of the obstacle.
cruise_speed	Cruise speed of vehicle.
constraints	constraints for the point.

UpdateRangeConstraints()

void apollo::planning::NaviSpeedTsGraph::UpdateRangeConstraints	(	double	start_s,
		double	end_s,
		const NaviSpeedTsConstraints &	constraints
	)

Assign constraints to a range.

Parameters

start_s	S fo the start point.
end_s	S fo the end point.
constraints	constraints for points.

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

• modules/planning/navi/decider/navi_speed_ts_graph.h