#include <quintic_spiral_path_with_derivation.h>

Inheritance diagram for apollo::planning::QuinticSpiralPathWithDerivation< N >:

Collaboration diagram for apollo::planning::QuinticSpiralPathWithDerivation< N >:

Public Member Functions
	QuinticSpiralPathWithDerivation ()=default

	QuinticSpiralPathWithDerivation (const std::array< double, 3 > &start, const std::array< double, 3 > &end, const double delta_s)

	QuinticSpiralPathWithDerivation (const double theta0, const double kappa0, const double dkappa0, const double theta1, const double kappa1, const double dkappa1, const double delta_s)

virtual	~QuinticSpiralPathWithDerivation ()=default

double	evaluate (const size_t order, const size_t i, const size_t n)

double	ComputeCartesianDeviationX () const

double	ComputeCartesianDeviationY () const

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

double	DeriveKappaDerivative (const size_t param_index, const int i, const int n)

double	DeriveDKappaDerivative (const size_t param_index, const int i, const int n)

double	ComputeCartesianDeviationX (const double s) const

double	ComputeCartesianDeviationY (const double s) 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

static const size_t	INDEX_MAX = 7

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

Constructor & Destructor Documentation

◆ QuinticSpiralPathWithDerivation() [1/3]

template<size_t N>

apollo::planning::QuinticSpiralPathWithDerivation< N >::QuinticSpiralPathWithDerivation ( )

default

◆ QuinticSpiralPathWithDerivation() [2/3]

template<size_t N>

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

◆ QuinticSpiralPathWithDerivation() [3/3]

template<size_t N>

apollo::planning::QuinticSpiralPathWithDerivation< N >::QuinticSpiralPathWithDerivation	(	const double	theta0,
		const double	kappa0,
		const double	dkappa0,
		const double	theta1,
		const double	kappa1,
		const double	dkappa1,
		const double	delta_s
	)

◆ ~QuinticSpiralPathWithDerivation()

template<size_t N>

virtual apollo::planning::QuinticSpiralPathWithDerivation< N >::~QuinticSpiralPathWithDerivation ( )

virtualdefault

Member Function Documentation

◆ ComputeCartesianDeviationX() [1/2]

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::ComputeCartesianDeviationX ( ) const

inline

◆ ComputeCartesianDeviationX() [2/2]

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::ComputeCartesianDeviationX ( const double s ) const

inline

◆ ComputeCartesianDeviationY() [1/2]

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::ComputeCartesianDeviationY ( ) const

inline

◆ ComputeCartesianDeviationY() [2/2]

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::ComputeCartesianDeviationY ( const double s ) const

inline

◆ DeriveCartesianDeviation()

template<size_t N>

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

◆ DeriveDKappaDerivative()

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::DeriveDKappaDerivative	(	const size_t	param_index,
		const int	i,
		const int	n
	)

◆ DeriveKappaDerivative()

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::DeriveKappaDerivative	(	const size_t	param_index,
		const int	i,
		const int	n
	)

◆ evaluate()

template<size_t N>

double apollo::planning::QuinticSpiralPathWithDerivation< N >::evaluate	(	const size_t	order,
		const size_t	i,
		const size_t	n
	)

Member Data Documentation

◆ DELTA_S

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::DELTA_S = 6

static

◆ DKAPPA0

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::DKAPPA0 = 2

static

◆ DKAPPA1

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::DKAPPA1 = 5

static

◆ INDEX_MAX

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::INDEX_MAX = 7

static

◆ KAPPA0

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::KAPPA0 = 1

static

◆ KAPPA1

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::KAPPA1 = 4

static

◆ THETA0

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::THETA0 = 0

static

◆ THETA1

template<size_t N>

const size_t apollo::planning::QuinticSpiralPathWithDerivation< N >::THETA1 = 3

static

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

modules/planning/math/curve1d/quintic_spiral_path_with_derivation.h

Public Member Functions

Static Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ QuinticSpiralPathWithDerivation() [1/3]

◆ QuinticSpiralPathWithDerivation() [2/3]

◆ QuinticSpiralPathWithDerivation() [3/3]

◆ ~QuinticSpiralPathWithDerivation()

Member Function Documentation

◆ ComputeCartesianDeviationX() [1/2]

◆ ComputeCartesianDeviationX() [2/2]

◆ ComputeCartesianDeviationY() [1/2]

◆ ComputeCartesianDeviationY() [2/2]

◆ DeriveCartesianDeviation()

◆ DeriveDKappaDerivative()

◆ DeriveKappaDerivative()

◆ evaluate()

Member Data Documentation

◆ DELTA_S

◆ DKAPPA0

◆ DKAPPA1

◆ INDEX_MAX

◆ KAPPA0

◆ KAPPA1

◆ THETA0

◆ THETA1