apollo::planning::OpenSpaceTrajectoryOptimizer Class Reference

#include <open_space_trajectory_optimizer.h>

Collaboration diagram for apollo::planning::OpenSpaceTrajectoryOptimizer:

Public Member Functions
	OpenSpaceTrajectoryOptimizer (const OpenSpaceTrajectoryOptimizerConfig &config)
virtual	~OpenSpaceTrajectoryOptimizer ()=default
common::Status	Plan (const std::vector< common::TrajectoryPoint > &stitching_trajectory, const std::vector< double > &end_pose, const std::vector< double > &XYbounds, double rotate_angle, const common::math::Vec2d &translate_origin, const Eigen::MatrixXi &obstacles_edges_num, const Eigen::MatrixXd &obstacles_A, const Eigen::MatrixXd &obstacles_b, const std::vector< std::vector< common::math::Vec2d >> &obstacles_vertices_vec, double *time_latency)
void	GetStitchingTrajectory (std::vector< common::TrajectoryPoint > *stitching_trajectory)
void	GetOptimizedTrajectory (DiscretizedTrajectory *optimized_trajectory)
void	RecordDebugInfo (const common::TrajectoryPoint &trajectory_stitching_point, const common::math::Vec2d &translate_origin, const double rotate_angle, const std::vector< double > &end_pose, const Eigen::MatrixXd &xWS, const Eigen::MatrixXd &uWs, const Eigen::MatrixXd &l_warm_up, const Eigen::MatrixXd &n_warm_up, const Eigen::MatrixXd &dual_l_result_ds, const Eigen::MatrixXd &dual_n_result_ds, const Eigen::MatrixXd &state_result_ds, const Eigen::MatrixXd &control_result_ds, const Eigen::MatrixXd &time_result_ds, const std::vector< double > &XYbounds, const std::vector< std::vector< common::math::Vec2d >> &obstacles_vertices_vec)
void	UpdateDebugInfo (::apollo::planning_internal::OpenSpaceDebug *open_space_debug)
apollo::planning_internal::OpenSpaceDebug *	mutable_open_space_debug ()

Constructor & Destructor Documentation

OpenSpaceTrajectoryOptimizer()

apollo::planning::OpenSpaceTrajectoryOptimizer::OpenSpaceTrajectoryOptimizer

(

const OpenSpaceTrajectoryOptimizerConfig &

config

)

~OpenSpaceTrajectoryOptimizer()

virtual apollo::planning::OpenSpaceTrajectoryOptimizer::~OpenSpaceTrajectoryOptimizer ( )

virtualdefault

Member Function Documentation

GetOptimizedTrajectory()

void apollo::planning::OpenSpaceTrajectoryOptimizer::GetOptimizedTrajectory ( DiscretizedTrajectory *  optimized_trajectory )

inline

GetStitchingTrajectory()

void apollo::planning::OpenSpaceTrajectoryOptimizer::GetStitchingTrajectory ( std::vector< common::TrajectoryPoint > *  stitching_trajectory )

inline

mutable_open_space_debug()

apollo::planning_internal::OpenSpaceDebug* apollo::planning::OpenSpaceTrajectoryOptimizer::mutable_open_space_debug ( )

inline

Plan()

common::Status apollo::planning::OpenSpaceTrajectoryOptimizer::Plan	(	const std::vector< common::TrajectoryPoint > &	stitching_trajectory,
		const std::vector< double > &	end_pose,
		const std::vector< double > &	XYbounds,
		double	rotate_angle,
		const common::math::Vec2d &	translate_origin,
		const Eigen::MatrixXi &	obstacles_edges_num,
		const Eigen::MatrixXd &	obstacles_A,
		const Eigen::MatrixXd &	obstacles_b,
		const std::vector< std::vector< common::math::Vec2d >> &	obstacles_vertices_vec,
		double *	time_latency
	)

RecordDebugInfo()

void apollo::planning::OpenSpaceTrajectoryOptimizer::RecordDebugInfo	(	const common::TrajectoryPoint &	trajectory_stitching_point,
		const common::math::Vec2d &	translate_origin,
		const double	rotate_angle,
		const std::vector< double > &	end_pose,
		const Eigen::MatrixXd &	xWS,
		const Eigen::MatrixXd &	uWs,
		const Eigen::MatrixXd &	l_warm_up,
		const Eigen::MatrixXd &	n_warm_up,
		const Eigen::MatrixXd &	dual_l_result_ds,
		const Eigen::MatrixXd &	dual_n_result_ds,
		const Eigen::MatrixXd &	state_result_ds,
		const Eigen::MatrixXd &	control_result_ds,
		const Eigen::MatrixXd &	time_result_ds,
		const std::vector< double > &	XYbounds,
		const std::vector< std::vector< common::math::Vec2d >> &	obstacles_vertices_vec
	)

UpdateDebugInfo()

void apollo::planning::OpenSpaceTrajectoryOptimizer::UpdateDebugInfo

(

::apollo::planning_internal::OpenSpaceDebug *

open_space_debug

)

---

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

• modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_optimizer.h