apollo::planning::Spline1dConstraint Class Reference

#include <spline_1d_constraint.h>

Collaboration diagram for apollo::planning::Spline1dConstraint:

Public Member Functions
	Spline1dConstraint (const Spline1d &pss)
	Spline1dConstraint (const std::vector< double > &x_knots, const uint32_t order)
bool	AddInequalityConstraint (const Eigen::MatrixXd &constraint_matrix, const Eigen::MatrixXd &constraint_boundary)
bool	AddEqualityConstraint (const Eigen::MatrixXd &constraint_matrix, const Eigen::MatrixXd &constraint_boundary)
bool	AddBoundary (const std::vector< double > &x_coord, const std::vector< double > &lower_bound, const std::vector< double > &upper_bound)
	: inequality boundary constraints if no boundary, do specify either by std::infinity or let vector.size() = 0 More...
bool	AddDerivativeBoundary (const std::vector< double > &x_coord, const std::vector< double > &lower_bound, const std::vector< double > &upper_bound)
bool	AddSecondDerivativeBoundary (const std::vector< double > &x_coord, const std::vector< double > &lower_bound, const std::vector< double > &upper_bound)
bool	AddThirdDerivativeBoundary (const std::vector< double > &x_coord, const std::vector< double > &lower_bound, const std::vector< double > &upper_bound)
bool	AddPointConstraint (const double x, const double fx)
	: equality constraint to guarantee joint smoothness boundary equality constriant constraint on fx, dfx, ddfx ... in vector form; up to third order More...
bool	AddPointDerivativeConstraint (const double x, const double dfx)
bool	AddPointSecondDerivativeConstraint (const double x, const double ddfx)
bool	AddPointThirdDerivativeConstraint (const double x, const double dddfx)
bool	AddPointConstraintInRange (const double x, const double fx, const double range)
bool	AddPointDerivativeConstraintInRange (const double x, const double dfx, const double range)
bool	AddPointSecondDerivativeConstraintInRange (const double x, const double ddfx, const double range)
bool	AddPointThirdDerivativeConstraintInRange (const double x, const double dddfx, const double range)
bool	AddSmoothConstraint ()
bool	AddDerivativeSmoothConstraint ()
bool	AddSecondDerivativeSmoothConstraint ()
bool	AddThirdDerivativeSmoothConstraint ()
bool	AddMonotoneInequalityConstraint (const std::vector< double > &x_coord)
	: Add monotone constraint inequality, guarantee the monotone city at evaluated point. customized monotone inequality constraint at x_coord More...
bool	AddMonotoneInequalityConstraintAtKnots ()
const AffineConstraint &	inequality_constraint () const
	: output interface inequality constraint More...
const AffineConstraint &	equality_constraint () const

Constructor & Destructor Documentation

Spline1dConstraint() [1/2]

apollo::planning::Spline1dConstraint::Spline1dConstraint ( const Spline1d &  pss )

explicit

Spline1dConstraint() [2/2]

apollo::planning::Spline1dConstraint::Spline1dConstraint	(	const std::vector< double > &	x_knots,
		const uint32_t	order
	)

Member Function Documentation

AddBoundary()

bool apollo::planning::Spline1dConstraint::AddBoundary	(	const std::vector< double > &	x_coord,
		const std::vector< double > &	lower_bound,
		const std::vector< double > &	upper_bound
	)

: inequality boundary constraints if no boundary, do specify either by std::infinity or let vector.size() = 0

AddDerivativeBoundary()

bool apollo::planning::Spline1dConstraint::AddDerivativeBoundary	(	const std::vector< double > &	x_coord,
		const std::vector< double > &	lower_bound,
		const std::vector< double > &	upper_bound
	)

AddDerivativeSmoothConstraint()

bool apollo::planning::Spline1dConstraint::AddDerivativeSmoothConstraint

(

)

AddEqualityConstraint()

bool apollo::planning::Spline1dConstraint::AddEqualityConstraint	(	const Eigen::MatrixXd &	constraint_matrix,
		const Eigen::MatrixXd &	constraint_boundary
	)

AddInequalityConstraint()

bool apollo::planning::Spline1dConstraint::AddInequalityConstraint	(	const Eigen::MatrixXd &	constraint_matrix,
		const Eigen::MatrixXd &	constraint_boundary
	)

AddMonotoneInequalityConstraint()

bool apollo::planning::Spline1dConstraint::AddMonotoneInequalityConstraint

(

const std::vector< double > &

x_coord

)

: Add monotone constraint inequality, guarantee the monotone city at evaluated point. customized monotone inequality constraint at x_coord

AddMonotoneInequalityConstraintAtKnots()

bool apollo::planning::Spline1dConstraint::AddMonotoneInequalityConstraintAtKnots

(

)

AddPointConstraint()

bool apollo::planning::Spline1dConstraint::AddPointConstraint	(	const double	x,
		const double	fx
	)

: equality constraint to guarantee joint smoothness boundary equality constriant constraint on fx, dfx, ddfx ... in vector form; up to third order

AddPointConstraintInRange()

bool apollo::planning::Spline1dConstraint::AddPointConstraintInRange	(	const double	x,
		const double	fx,
		const double	range
	)

AddPointDerivativeConstraint()

bool apollo::planning::Spline1dConstraint::AddPointDerivativeConstraint	(	const double	x,
		const double	dfx
	)

AddPointDerivativeConstraintInRange()

bool apollo::planning::Spline1dConstraint::AddPointDerivativeConstraintInRange	(	const double	x,
		const double	dfx,
		const double	range
	)

AddPointSecondDerivativeConstraint()

bool apollo::planning::Spline1dConstraint::AddPointSecondDerivativeConstraint	(	const double	x,
		const double	ddfx
	)

AddPointSecondDerivativeConstraintInRange()

bool apollo::planning::Spline1dConstraint::AddPointSecondDerivativeConstraintInRange	(	const double	x,
		const double	ddfx,
		const double	range
	)

AddPointThirdDerivativeConstraint()

bool apollo::planning::Spline1dConstraint::AddPointThirdDerivativeConstraint	(	const double	x,
		const double	dddfx
	)

AddPointThirdDerivativeConstraintInRange()

bool apollo::planning::Spline1dConstraint::AddPointThirdDerivativeConstraintInRange	(	const double	x,
		const double	dddfx,
		const double	range
	)

AddSecondDerivativeBoundary()

bool apollo::planning::Spline1dConstraint::AddSecondDerivativeBoundary	(	const std::vector< double > &	x_coord,
		const std::vector< double > &	lower_bound,
		const std::vector< double > &	upper_bound
	)

AddSecondDerivativeSmoothConstraint()

bool apollo::planning::Spline1dConstraint::AddSecondDerivativeSmoothConstraint

(

)

AddSmoothConstraint()

bool apollo::planning::Spline1dConstraint::AddSmoothConstraint

(

)

AddThirdDerivativeBoundary()

bool apollo::planning::Spline1dConstraint::AddThirdDerivativeBoundary	(	const std::vector< double > &	x_coord,
		const std::vector< double > &	lower_bound,
		const std::vector< double > &	upper_bound
	)

AddThirdDerivativeSmoothConstraint()

bool apollo::planning::Spline1dConstraint::AddThirdDerivativeSmoothConstraint

(

)

equality_constraint()

const AffineConstraint& apollo::planning::Spline1dConstraint::equality_constraint

(

)

const

inequality_constraint()

const AffineConstraint& apollo::planning::Spline1dConstraint::inequality_constraint

(

)

const

: output interface inequality constraint

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

• modules/planning/math/smoothing_spline/spline_1d_constraint.h