Apollo  6.0
Open source self driving car software
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
apollo::planning::ReedShepp Class Reference

#include <reeds_shepp_path.h>

Collaboration diagram for apollo::planning::ReedShepp:
Collaboration graph

Public Member Functions

 ReedShepp (const common::VehicleParam &vehicle_param, const PlannerOpenSpaceConfig &open_space_conf)
 
virtual ~ReedShepp ()=default
 
bool ShortestRSP (const std::shared_ptr< Node3d > start_node, const std::shared_ptr< Node3d > end_node, std::shared_ptr< ReedSheppPath > optimal_path)
 

Protected Member Functions

bool GenerateRSPs (const std::shared_ptr< Node3d > start_node, const std::shared_ptr< Node3d > end_node, std::vector< ReedSheppPath > *all_possible_paths)
 
bool GenerateRSP (const std::shared_ptr< Node3d > start_node, const std::shared_ptr< Node3d > end_node, std::vector< ReedSheppPath > *all_possible_paths)
 
bool GenerateRSPPar (const std::shared_ptr< Node3d > start_node, const std::shared_ptr< Node3d > end_node, std::vector< ReedSheppPath > *all_possible_paths)
 
bool GenerateLocalConfigurations (const std::shared_ptr< Node3d > start_node, const std::shared_ptr< Node3d > end_node, ReedSheppPath *shortest_path)
 
void Interpolation (const int index, const double pd, const char m, const double ox, const double oy, const double ophi, std::vector< double > *px, std::vector< double > *py, std::vector< double > *pphi, std::vector< bool > *pgear)
 
bool SetRSP (const int size, const double *lengths, const char *types, std::vector< ReedSheppPath > *all_possible_paths)
 
bool SetRSPPar (const int size, const double *lengths, const std::string &types, std::vector< ReedSheppPath > *all_possible_paths, const int idx)
 
bool SCS (const double x, const double y, const double phi, std::vector< ReedSheppPath > *all_possible_paths)
 
bool CSC (const double x, const double y, const double phi, std::vector< ReedSheppPath > *all_possible_paths)
 
bool CCC (const double x, const double y, const double phi, std::vector< ReedSheppPath > *all_possible_paths)
 
bool CCCC (const double x, const double y, const double phi, std::vector< ReedSheppPath > *all_possible_paths)
 
bool CCSC (const double x, const double y, const double phi, std::vector< ReedSheppPath > *all_possible_paths)
 
bool CCSCC (const double x, const double y, const double phi, std::vector< ReedSheppPath > *all_possible_paths)
 
void LSL (const double x, const double y, const double phi, RSPParam *param)
 
void LSR (const double x, const double y, const double phi, RSPParam *param)
 
void LRL (const double x, const double y, const double phi, RSPParam *param)
 
void SLS (const double x, const double y, const double phi, RSPParam *param)
 
void LRLRn (const double x, const double y, const double phi, RSPParam *param)
 
void LRLRp (const double x, const double y, const double phi, RSPParam *param)
 
void LRSR (const double x, const double y, const double phi, RSPParam *param)
 
void LRSL (const double x, const double y, const double phi, RSPParam *param)
 
void LRSLR (const double x, const double y, const double phi, RSPParam *param)
 
std::pair< double, double > calc_tau_omega (const double u, const double v, const double xi, const double eta, const double phi)
 

Protected Attributes

common::VehicleParam vehicle_param_
 
PlannerOpenSpaceConfig planner_open_space_config_
 
double max_kappa_
 

Constructor & Destructor Documentation

◆ ReedShepp()

apollo::planning::ReedShepp::ReedShepp ( const common::VehicleParam &  vehicle_param,
const PlannerOpenSpaceConfig &  open_space_conf 
)

◆ ~ReedShepp()

virtual apollo::planning::ReedShepp::~ReedShepp ( )
virtualdefault

Member Function Documentation

◆ calc_tau_omega()

std::pair<double, double> apollo::planning::ReedShepp::calc_tau_omega ( const double  u,
const double  v,
const double  xi,
const double  eta,
const double  phi 
)
protected

◆ CCC()

bool apollo::planning::ReedShepp::CCC ( const double  x,
const double  y,
const double  phi,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ CCCC()

bool apollo::planning::ReedShepp::CCCC ( const double  x,
const double  y,
const double  phi,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ CCSC()

bool apollo::planning::ReedShepp::CCSC ( const double  x,
const double  y,
const double  phi,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ CCSCC()

bool apollo::planning::ReedShepp::CCSCC ( const double  x,
const double  y,
const double  phi,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ CSC()

bool apollo::planning::ReedShepp::CSC ( const double  x,
const double  y,
const double  phi,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ GenerateLocalConfigurations()

bool apollo::planning::ReedShepp::GenerateLocalConfigurations ( const std::shared_ptr< Node3d >  start_node,
const std::shared_ptr< Node3d >  end_node,
ReedSheppPath *  shortest_path 
)
protected

◆ GenerateRSP()

bool apollo::planning::ReedShepp::GenerateRSP ( const std::shared_ptr< Node3d >  start_node,
const std::shared_ptr< Node3d >  end_node,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ GenerateRSPPar()

bool apollo::planning::ReedShepp::GenerateRSPPar ( const std::shared_ptr< Node3d >  start_node,
const std::shared_ptr< Node3d >  end_node,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ GenerateRSPs()

bool apollo::planning::ReedShepp::GenerateRSPs ( const std::shared_ptr< Node3d >  start_node,
const std::shared_ptr< Node3d >  end_node,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ Interpolation()

void apollo::planning::ReedShepp::Interpolation ( const int  index,
const double  pd,
const char  m,
const double  ox,
const double  oy,
const double  ophi,
std::vector< double > *  px,
std::vector< double > *  py,
std::vector< double > *  pphi,
std::vector< bool > *  pgear 
)
protected

◆ LRL()

void apollo::planning::ReedShepp::LRL ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LRLRn()

void apollo::planning::ReedShepp::LRLRn ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LRLRp()

void apollo::planning::ReedShepp::LRLRp ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LRSL()

void apollo::planning::ReedShepp::LRSL ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LRSLR()

void apollo::planning::ReedShepp::LRSLR ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LRSR()

void apollo::planning::ReedShepp::LRSR ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LSL()

void apollo::planning::ReedShepp::LSL ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ LSR()

void apollo::planning::ReedShepp::LSR ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

◆ SCS()

bool apollo::planning::ReedShepp::SCS ( const double  x,
const double  y,
const double  phi,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ SetRSP()

bool apollo::planning::ReedShepp::SetRSP ( const int  size,
const double *  lengths,
const char *  types,
std::vector< ReedSheppPath > *  all_possible_paths 
)
protected

◆ SetRSPPar()

bool apollo::planning::ReedShepp::SetRSPPar ( const int  size,
const double *  lengths,
const std::string &  types,
std::vector< ReedSheppPath > *  all_possible_paths,
const int  idx 
)
protected

◆ ShortestRSP()

bool apollo::planning::ReedShepp::ShortestRSP ( const std::shared_ptr< Node3d >  start_node,
const std::shared_ptr< Node3d >  end_node,
std::shared_ptr< ReedSheppPath >  optimal_path 
)

◆ SLS()

void apollo::planning::ReedShepp::SLS ( const double  x,
const double  y,
const double  phi,
RSPParam *  param 
)
protected

Member Data Documentation

◆ max_kappa_

double apollo::planning::ReedShepp::max_kappa_
protected

◆ planner_open_space_config_

PlannerOpenSpaceConfig apollo::planning::ReedShepp::planner_open_space_config_
protected

◆ vehicle_param_

common::VehicleParam apollo::planning::ReedShepp::vehicle_param_
protected
The documentation for this class was generated from the following file:
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