apollo::planning::SpiralReferenceLineSmoother Class Reference

#include <spiral_reference_line_smoother.h>

Inheritance diagram for apollo::planning::SpiralReferenceLineSmoother:

Collaboration diagram for apollo::planning::SpiralReferenceLineSmoother:

Public Member Functions
	SpiralReferenceLineSmoother (const ReferenceLineSmootherConfig &config)
virtual	~SpiralReferenceLineSmoother ()=default
bool	Smooth (const ReferenceLine &raw_reference_line, ReferenceLine *const smoothed_reference_line) override
int	SmoothStandAlone (std::vector< Eigen::Vector2d > point2d, std::vector< double > *ptr_theta, std::vector< double > *ptr_kappa, std::vector< double > *ptr_dkappa, std::vector< double > *ptr_s, std::vector< double > *ptr_x, std::vector< double > *ptr_y) const
void	SetAnchorPoints (const std::vector< AnchorPoint > &) override
std::vector< common::PathPoint >	Interpolate (const std::vector< double > &theta, const std::vector< double > &kappa, const std::vector< double > &dkappa, const std::vector< double > &s, const std::vector< double > &x, const std::vector< double > &y, const double resolution) const
Public Member Functions inherited from apollo::planning::ReferenceLineSmoother
	ReferenceLineSmoother (const ReferenceLineSmootherConfig &config)
virtual	~ReferenceLineSmoother ()=default

Additional Inherited Members
Protected Attributes inherited from apollo::planning::ReferenceLineSmoother
ReferenceLineSmootherConfig	config_

Constructor & Destructor Documentation

SpiralReferenceLineSmoother()

apollo::planning::SpiralReferenceLineSmoother::SpiralReferenceLineSmoother ( const ReferenceLineSmootherConfig &  config )

explicit

~SpiralReferenceLineSmoother()

virtual apollo::planning::SpiralReferenceLineSmoother::~SpiralReferenceLineSmoother ( )

virtualdefault

Member Function Documentation

Interpolate()

std::vector<common::PathPoint> apollo::planning::SpiralReferenceLineSmoother::Interpolate	(	const std::vector< double > &	theta,
		const std::vector< double > &	kappa,
		const std::vector< double > &	dkappa,
		const std::vector< double > &	s,
		const std::vector< double > &	x,
		const std::vector< double > &	y,
		const double	resolution
	)		const

SetAnchorPoints()

void apollo::planning::SpiralReferenceLineSmoother::SetAnchorPoints ( const std::vector< AnchorPoint > &  achor_points )

overridevirtual

Smoothing constraints

Implements apollo::planning::ReferenceLineSmoother.

Smooth()

bool apollo::planning::SpiralReferenceLineSmoother::Smooth ( const ReferenceLine &  , ReferenceLine *const  const  )

overridevirtual

Smooth a given reference line

Implements apollo::planning::ReferenceLineSmoother.

SmoothStandAlone()

int apollo::planning::SpiralReferenceLineSmoother::SmoothStandAlone	(	std::vector< Eigen::Vector2d >	point2d,
		std::vector< double > *	ptr_theta,
		std::vector< double > *	ptr_kappa,
		std::vector< double > *	ptr_dkappa,
		std::vector< double > *	ptr_s,
		std::vector< double > *	ptr_x,
		std::vector< double > *	ptr_y
	)		const

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

• modules/planning/reference_line/spiral_reference_line_smoother.h