#include <st_boundary.h>

Inheritance diagram for apollo::planning::STBoundary:

Collaboration diagram for apollo::planning::STBoundary:

Public Types
enum	BoundaryType { BoundaryType::UNKNOWN, BoundaryType::STOP, BoundaryType::FOLLOW, BoundaryType::YIELD, BoundaryType::OVERTAKE, BoundaryType::KEEP_CLEAR }

Public Member Functions
	STBoundary ()=default

	STBoundary (const std::vector< std::pair< STPoint, STPoint >> &point_pairs, bool is_accurate_boundary=false)

	STBoundary (const common::math::Box2d &box)=delete

	STBoundary (std::vector< common::math::Vec2d > points)=delete

	~STBoundary ()=default
	Default destructor. More...

bool	IsEmpty () const

bool	GetUnblockSRange (const double curr_time, double s_upper, double s_lower) const

bool	GetBoundarySRange (const double curr_time, double s_upper, double s_lower) const

bool	GetBoundarySlopes (const double curr_time, double ds_upper, double ds_lower) const

BoundaryType	boundary_type () const

const std::string &	id () const

double	characteristic_length () const

void	set_id (const std::string &id)

void	SetBoundaryType (const BoundaryType &boundary_type)

void	SetCharacteristicLength (const double characteristic_length)

double	min_s () const

double	min_t () const

double	max_s () const

double	max_t () const

std::vector< STPoint >	upper_points () const

std::vector< STPoint >	lower_points () const

bool	IsPointInBoundary (const STPoint &st_point) const

STBoundary	ExpandByS (const double s) const

STBoundary	ExpandByT (const double t) const

STBoundary	CutOffByT (const double t) const

STPoint	upper_left_point () const

STPoint	upper_right_point () const

STPoint	bottom_left_point () const

STPoint	bottom_right_point () const

void	set_upper_left_point (STPoint st_point)

void	set_upper_right_point (STPoint st_point)

void	set_bottom_left_point (STPoint st_point)

void	set_bottom_right_point (STPoint st_point)

void	set_obstacle_road_right_ending_t (double road_right_ending_t)

double	obstacle_road_right_ending_t () const

Public Member Functions inherited from apollo::common::math::Polygon2d
	Polygon2d ()=default
	Empty constructor. More...

	Polygon2d (const Box2d &box)
	Constructor which takes a box. More...

	Polygon2d (std::vector< Vec2d > points)
	Constructor which takes a vector of points as its vertices. More...

const std::vector< Vec2d > &	points () const
	Get the vertices of the polygon. More...

const std::vector< LineSegment2d > &	line_segments () const
	Get the edges of the polygon. More...

int	num_points () const
	Get the number of vertices of the polygon. More...

bool	is_convex () const
	Check if the polygon is convex. More...

double	area () const
	Get the area of the polygon. More...

double	DistanceToBoundary (const Vec2d &point) const
	Compute the distance from a point to the boundary of the polygon. This distance is equal to the minimal distance from the point to the edges of the polygon. More...

double	DistanceTo (const Vec2d &point) const
	Compute the distance from a point to the polygon. If the point is within the polygon, return 0. Otherwise, this distance is the minimal distance from the point to the edges of the polygon. More...

double	DistanceTo (const LineSegment2d &line_segment) const
	Compute the distance from a line segment to the polygon. If the line segment is within the polygon, or it has intersect with the polygon, return 0. Otherwise, this distance is the minimal distance between the distances from the two ends of the line segment to the polygon. More...

double	DistanceTo (const Box2d &box) const
	Compute the distance from a box to the polygon. If the box is within the polygon, or it has overlap with the polygon, return 0. Otherwise, this distance is the minimal distance among the distances from the edges of the box to the polygon. More...

double	DistanceTo (const Polygon2d &polygon) const
	Compute the distance from another polygon to the polygon. If the other polygon is within this polygon, or it has overlap with this polygon, return 0. Otherwise, this distance is the minimal distance among the distances from the edges of the other polygon to this polygon. More...

double	DistanceSquareTo (const Vec2d &point) const
	Compute the square of distance from a point to the polygon. If the point is within the polygon, return 0. Otherwise, this square of distance is the minimal square of distance from the point to the edges of the polygon. More...

bool	IsPointIn (const Vec2d &point) const
	Check if a point is within the polygon. More...

bool	IsPointOnBoundary (const Vec2d &point) const
	Check if a point is on the boundary of the polygon. More...

bool	Contains (const LineSegment2d &line_segment) const
	Check if the polygon contains a line segment. More...

bool	Contains (const Polygon2d &polygon) const
	Check if the polygon contains another polygon. More...

bool	HasOverlap (const LineSegment2d &line_segment) const
	Check if a line segment has overlap with this polygon. More...

bool	GetOverlap (const LineSegment2d &line_segment, Vec2d const first, Vec2d const last) const
	Get the overlap of a line segment and this polygon. If they have overlap, output the two ends of the overlapped line segment. More...

void	GetAllVertices (std::vector< Vec2d > *const vertices) const
	Get all vertices of the polygon. More...

std::vector< Vec2d >	GetAllVertices () const
	Get all vertices of the polygon. More...

std::vector< LineSegment2d >	GetAllOverlaps (const LineSegment2d &line_segment) const
	Get all overlapped line segments of a line segment and this polygon. There are possibly multiple overlapped line segments if this polygon is not convex. More...

bool	HasOverlap (const Polygon2d &polygon) const
	Check if this polygon has overlap with another polygon. More...

bool	ComputeOverlap (const Polygon2d &other_polygon, Polygon2d *const overlap_polygon) const
	Compute the overlap of this polygon and the other polygon if any. Note: this function only works for computing overlap between two convex polygons. More...

double	ComputeIoU (const Polygon2d &other_polygon) const
	Compute intersection over union ratio of this polygon and the other polygon. Note: this function only works for computing overlap between two convex polygons. More...

AABox2d	AABoundingBox () const
	Get the axis-aligned bound box of the polygon. More...

Box2d	BoundingBoxWithHeading (const double heading) const
	Get the bound box according to a heading. More...

Box2d	MinAreaBoundingBox () const
	Get the bounding box with the minimal area. More...

void	ExtremePoints (const double heading, Vec2d const first, Vec2d const last) const
	Get the extreme points along a heading direction. More...

Polygon2d	ExpandByDistance (const double distance) const
	Expand this polygon by a distance. More...

std::string	DebugString () const
	Get a string containing essential information about the polygon for debugging purpose. More...

double	min_x () const

double	max_x () const

double	min_y () const

double	max_y () const

Static Public Member Functions
static STBoundary	CreateInstance (const std::vector< STPoint > &lower_points, const std::vector< STPoint > &upper_points)
	Wrapper of the constructor (old). More...

static STBoundary	CreateInstanceAccurate (const std::vector< STPoint > &lower_points, const std::vector< STPoint > &upper_points)
	Wrapper of the constructor. It doesn't use RemoveRedundantPoints and generates an accurate ST-boundary. More...

static std::string	TypeName (BoundaryType type)

Static Public Member Functions inherited from apollo::common::math::Polygon2d
static bool	ComputeConvexHull (const std::vector< Vec2d > &points, Polygon2d *const polygon)
	Compute the convex hull of a group of points. More...

Additional Inherited Members
Protected Member Functions inherited from apollo::common::math::Polygon2d
void	BuildFromPoints ()

int	Next (int at) const

int	Prev (int at) const

Static Protected Member Functions inherited from apollo::common::math::Polygon2d
static bool	ClipConvexHull (const LineSegment2d &line_segment, std::vector< Vec2d > *const points)

Protected Attributes inherited from apollo::common::math::Polygon2d
std::vector< Vec2d >	points_

int	num_points_ = 0

std::vector< LineSegment2d >	line_segments_

bool	is_convex_ = false

double	area_ = 0.0

double	min_x_ = 0.0

double	max_x_ = 0.0

double	min_y_ = 0.0

double	max_y_ = 0.0

Member Enumeration Documentation

◆ BoundaryType

enum apollo::planning::STBoundary::BoundaryType

strong

Enumerator
UNKNOWN
STOP
FOLLOW
YIELD
OVERTAKE
KEEP_CLEAR

Constructor & Destructor Documentation

◆ STBoundary() [1/4]

apollo::planning::STBoundary::STBoundary ( )

default

Constructors: STBoundary must be initialized with a vector of ST-point pairs. Each pair refers to a time t, with (lower_s, upper_s).

◆ STBoundary() [2/4]

apollo::planning::STBoundary::STBoundary	(	const std::vector< std::pair< STPoint, STPoint >> &	point_pairs,
		bool	is_accurate_boundary = `false`
	)

explicit

◆ STBoundary() [3/4]

apollo::planning::STBoundary::STBoundary ( const common::math::Box2d & box )

explicitdelete

◆ STBoundary() [4/4]

apollo::planning::STBoundary::STBoundary ( std::vector< common::math::Vec2d > points )

explicitdelete

◆ ~STBoundary()

apollo::planning::STBoundary::~STBoundary ( )

default

Default destructor.

Member Function Documentation

◆ bottom_left_point()

STPoint apollo::planning::STBoundary::bottom_left_point ( ) const

◆ bottom_right_point()

STPoint apollo::planning::STBoundary::bottom_right_point ( ) const

◆ boundary_type()

BoundaryType apollo::planning::STBoundary::boundary_type ( ) const

◆ characteristic_length()

double apollo::planning::STBoundary::characteristic_length ( ) const

◆ CreateInstance()

static STBoundary apollo::planning::STBoundary::CreateInstance	(	const std::vector< STPoint > &	lower_points,
		const std::vector< STPoint > &	upper_points
	)

static

Wrapper of the constructor (old).

◆ CreateInstanceAccurate()

static STBoundary apollo::planning::STBoundary::CreateInstanceAccurate	(	const std::vector< STPoint > &	lower_points,
		const std::vector< STPoint > &	upper_points
	)

static

Wrapper of the constructor. It doesn't use RemoveRedundantPoints and generates an accurate ST-boundary.

◆ CutOffByT()

STBoundary apollo::planning::STBoundary::CutOffByT ( const double t ) const

◆ ExpandByS()

STBoundary apollo::planning::STBoundary::ExpandByS ( const double s ) const

◆ ExpandByT()

STBoundary apollo::planning::STBoundary::ExpandByT ( const double t ) const

◆ GetBoundarySlopes()

bool apollo::planning::STBoundary::GetBoundarySlopes	(	const double	curr_time,
		double *	ds_upper,
		double *	ds_lower
	)		const

◆ GetBoundarySRange()

bool apollo::planning::STBoundary::GetBoundarySRange	(	const double	curr_time,
		double *	s_upper,
		double *	s_lower
	)		const

◆ GetUnblockSRange()

bool apollo::planning::STBoundary::GetUnblockSRange	(	const double	curr_time,
		double *	s_upper,
		double *	s_lower
	)		const

◆ id()

const std::string& apollo::planning::STBoundary::id ( ) const

◆ IsEmpty()

bool apollo::planning::STBoundary::IsEmpty ( ) const

inline

◆ IsPointInBoundary()

bool apollo::planning::STBoundary::IsPointInBoundary ( const STPoint & st_point ) const

◆ lower_points()

std::vector<STPoint> apollo::planning::STBoundary::lower_points ( ) const

inline

◆ max_s()

double apollo::planning::STBoundary::max_s ( ) const

◆ max_t()

double apollo::planning::STBoundary::max_t ( ) const

◆ min_s()

double apollo::planning::STBoundary::min_s ( ) const

◆ min_t()

double apollo::planning::STBoundary::min_t ( ) const

◆ obstacle_road_right_ending_t()

double apollo::planning::STBoundary::obstacle_road_right_ending_t ( ) const

inline

◆ set_bottom_left_point()

void apollo::planning::STBoundary::set_bottom_left_point ( STPoint st_point )

◆ set_bottom_right_point()

void apollo::planning::STBoundary::set_bottom_right_point ( STPoint st_point )

◆ set_id()

void apollo::planning::STBoundary::set_id ( const std::string & id )

◆ set_obstacle_road_right_ending_t()

void apollo::planning::STBoundary::set_obstacle_road_right_ending_t ( double road_right_ending_t )

inline

◆ set_upper_left_point()

void apollo::planning::STBoundary::set_upper_left_point ( STPoint st_point )

◆ set_upper_right_point()

void apollo::planning::STBoundary::set_upper_right_point ( STPoint st_point )

◆ SetBoundaryType()

void apollo::planning::STBoundary::SetBoundaryType ( const BoundaryType & boundary_type )

◆ SetCharacteristicLength()

void apollo::planning::STBoundary::SetCharacteristicLength ( const double characteristic_length )

◆ TypeName()

static std::string apollo::planning::STBoundary::TypeName ( BoundaryType type )

static

◆ upper_left_point()

STPoint apollo::planning::STBoundary::upper_left_point ( ) const

◆ upper_points()

std::vector<STPoint> apollo::planning::STBoundary::upper_points ( ) const

inline

◆ upper_right_point()

STPoint apollo::planning::STBoundary::upper_right_point ( ) const

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

modules/planning/common/speed/st_boundary.h

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ BoundaryType

Constructor & Destructor Documentation

◆ STBoundary() [1/4]

◆ STBoundary() [2/4]

◆ STBoundary() [3/4]

◆ STBoundary() [4/4]

◆ ~STBoundary()

Member Function Documentation

◆ bottom_left_point()

◆ bottom_right_point()

◆ boundary_type()

◆ characteristic_length()

◆ CreateInstance()

◆ CreateInstanceAccurate()

◆ CutOffByT()

◆ ExpandByS()

◆ ExpandByT()

◆ GetBoundarySlopes()

◆ GetBoundarySRange()

◆ GetUnblockSRange()

◆ id()

◆ IsEmpty()

◆ IsPointInBoundary()

◆ lower_points()

◆ max_s()

◆ max_t()

◆ min_s()

◆ min_t()

◆ obstacle_road_right_ending_t()

◆ set_bottom_left_point()

◆ set_bottom_right_point()

◆ set_id()

◆ set_obstacle_road_right_ending_t()

◆ set_upper_left_point()

◆ set_upper_right_point()

◆ SetBoundaryType()

◆ SetCharacteristicLength()

◆ TypeName()

◆ upper_left_point()

◆ upper_points()

◆ upper_right_point()