apollo::planning::QuinticSpiralPath Class Reference

#include <quintic_spiral_path.h>

Inheritance diagram for apollo::planning::QuinticSpiralPath:

Collaboration diagram for apollo::planning::QuinticSpiralPath:

Public Member Functions
	QuinticSpiralPath ()=default
	QuinticSpiralPath (const std::array< double, 3 > &start, const std::array< double, 3 > &end, const double delta_s)
	QuinticSpiralPath (const double theta0, const double kappa0, const double dkappa0, const double theta1, const double kappa1, const double dkappa1, const double delta_s)
template<size_t N>
double	ComputeCartesianDeviationX (const double s) const
template<size_t N>
double	ComputeCartesianDeviationY (const double s) const
template<size_t N>
std::pair< double, double >	DeriveCartesianDeviation (const size_t param_index) const
double	DeriveKappaDerivative (const size_t param_index, const double ratio) const
double	DeriveDKappaDerivative (const size_t param_index, const double ratio) const
double	DeriveD2KappaDerivative (const size_t param_index, const double r) const
Public Member Functions inherited from apollo::planning::QuinticPolynomialCurve1d
	QuinticPolynomialCurve1d ()=default
	QuinticPolynomialCurve1d (const std::array< double, 3 > &start, const std::array< double, 3 > &end, const double param)
	QuinticPolynomialCurve1d (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double ddx1, const double param)
	QuinticPolynomialCurve1d (const QuinticPolynomialCurve1d &other)
void	SetParam (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double ddx1, const double param)
void	IntegratedFromQuarticCurve (const PolynomialCurve1d &other, const double init_value)
virtual	~QuinticPolynomialCurve1d ()=default
double	Evaluate (const std::uint32_t order, const double p) const override
double	ParamLength () const override
std::string	ToString () const override
double	Coef (const size_t order) const override
size_t	Order () const override
Public Member Functions inherited from apollo::planning::PolynomialCurve1d
	PolynomialCurve1d ()=default
virtual	~PolynomialCurve1d ()=default
Public Member Functions inherited from apollo::planning::Curve1d
	Curve1d ()=default
virtual	~Curve1d ()=default

Static Public Attributes
static const size_t	THETA0 = 0
static const size_t	KAPPA0 = 1
static const size_t	DKAPPA0 = 2
static const size_t	THETA1 = 3
static const size_t	KAPPA1 = 4
static const size_t	DKAPPA1 = 5
static const size_t	DELTA_S = 6

Additional Inherited Members
Protected Member Functions inherited from apollo::planning::QuinticPolynomialCurve1d
void	ComputeCoefficients (const double x0, const double dx0, const double ddx0, const double x1, const double dx1, const double ddx1, const double param)
Protected Attributes inherited from apollo::planning::QuinticPolynomialCurve1d
std::array< double, 6 >	coef_ {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}
std::array< double, 3 >	start_condition_ {{0.0, 0.0, 0.0}}
std::array< double, 3 >	end_condition_ {{0.0, 0.0, 0.0}}
Protected Attributes inherited from apollo::planning::PolynomialCurve1d
double	param_ = 0.0

Detailed Description

Describe a quintic spiral path Map (theta0, kappa0, dkappa0) --— delta_s --—> (theta1, kappa1, dkappa1)

Constructor & Destructor Documentation

QuinticSpiralPath() [1/3]

apollo::planning::QuinticSpiralPath::QuinticSpiralPath ( )

default

QuinticSpiralPath() [2/3]

apollo::planning::QuinticSpiralPath::QuinticSpiralPath	(	const std::array< double, 3 > &	start,
		const std::array< double, 3 > &	end,
		const double	delta_s
	)

QuinticSpiralPath() [3/3]

apollo::planning::QuinticSpiralPath::QuinticSpiralPath	(	const double	theta0,
		const double	kappa0,
		const double	dkappa0,
		const double	theta1,
		const double	kappa1,
		const double	dkappa1,
		const double	delta_s
	)

Member Function Documentation

ComputeCartesianDeviationX()

template<size_t N>

double apollo::planning::QuinticSpiralPath::ComputeCartesianDeviationX ( const double  s ) const

inline

ComputeCartesianDeviationY()

template<size_t N>

double apollo::planning::QuinticSpiralPath::ComputeCartesianDeviationY ( const double  s ) const

inline

DeriveCartesianDeviation()

template<size_t N>

std::pair<double, double> apollo::planning::QuinticSpiralPath::DeriveCartesianDeviation ( const size_t  param_index ) const

inline

DeriveD2KappaDerivative()

double apollo::planning::QuinticSpiralPath::DeriveD2KappaDerivative	(	const size_t	param_index,
		const double	r
	)		const

DeriveDKappaDerivative()

double apollo::planning::QuinticSpiralPath::DeriveDKappaDerivative	(	const size_t	param_index,
		const double	ratio
	)		const

DeriveKappaDerivative()

double apollo::planning::QuinticSpiralPath::DeriveKappaDerivative	(	const size_t	param_index,
		const double	ratio
	)		const

Member Data Documentation

DELTA_S

const size_t apollo::planning::QuinticSpiralPath::DELTA_S = 6

static

DKAPPA0

const size_t apollo::planning::QuinticSpiralPath::DKAPPA0 = 2

static

DKAPPA1

const size_t apollo::planning::QuinticSpiralPath::DKAPPA1 = 5

static

KAPPA0

const size_t apollo::planning::QuinticSpiralPath::KAPPA0 = 1

static

KAPPA1

const size_t apollo::planning::QuinticSpiralPath::KAPPA1 = 4

static

THETA0

const size_t apollo::planning::QuinticSpiralPath::THETA0 = 0

static

THETA1

const size_t apollo::planning::QuinticSpiralPath::THETA1 = 3

static

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

• modules/planning/math/curve1d/quintic_spiral_path.h