Apollo  6.0
Open source self driving car software
Public Member Functions | List of all members
apollo::planning::Spline2dConstraint Class Reference

#include <spline_2d_constraint.h>

Collaboration diagram for apollo::planning::Spline2dConstraint:
Collaboration graph

Public Member Functions

 Spline2dConstraint (const std::vector< double > &t_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 Add2dBoundary (const std::vector< double > &t_coord, const std::vector< double > &angle, const std::vector< apollo::common::math::Vec2d > &ref_point, const std::vector< double > &longitudinal_bound, const std::vector< double > &lateral_bound)
 : inequality boundary constraints if no boundary, do specify either by std::infinity or let vector.size() = 0 More...
 
bool Add2dDerivativeBoundary (const std::vector< double > &t_coord, const std::vector< double > &angle, const std::vector< apollo::common::math::Vec2d > &ref_point, const std::vector< double > &longitudinal_bound, const std::vector< double > &lateral_bound)
 
bool Add2dSecondDerivativeBoundary (const std::vector< double > &t_coord, const std::vector< double > &angle, const std::vector< apollo::common::math::Vec2d > &ref_point, const std::vector< double > &longitudinal_bound, const std::vector< double > &lateral_bound)
 
bool Add2dThirdDerivativeBoundary (const std::vector< double > &t_coord, const std::vector< double > &angle, const std::vector< apollo::common::math::Vec2d > &ref_point, const std::vector< double > &longitudinal_bound, const std::vector< double > &lateral_bound)
 
bool AddPointConstraint (const double t, const double x, const double y)
 
bool AddPointSecondDerivativeConstraint (const double t, const double ddx, const double ddy)
 
bool AddPointThirdDerivativeConstraint (const double t, const double dddx, const double dddy)
 
bool AddPointAngleConstraint (const double t, const double angle)
 
bool AddSmoothConstraint ()
 
bool AddDerivativeSmoothConstraint ()
 
bool AddSecondDerivativeSmoothConstraint ()
 
bool AddThirdDerivativeSmoothConstraint ()
 
const AffineConstraint & inequality_constraint () const
 : output interface inequality constraint More...
 
const AffineConstraint & equality_constraint () const
 

Constructor & Destructor Documentation

◆ Spline2dConstraint()

apollo::planning::Spline2dConstraint::Spline2dConstraint ( const std::vector< double > &  t_knots,
const uint32_t  order 
)

Member Function Documentation

◆ Add2dBoundary()

bool apollo::planning::Spline2dConstraint::Add2dBoundary ( const std::vector< double > &  t_coord,
const std::vector< double > &  angle,
const std::vector< apollo::common::math::Vec2d > &  ref_point,
const std::vector< double > &  longitudinal_bound,
const std::vector< double > &  lateral_bound 
)

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

◆ Add2dDerivativeBoundary()

bool apollo::planning::Spline2dConstraint::Add2dDerivativeBoundary ( const std::vector< double > &  t_coord,
const std::vector< double > &  angle,
const std::vector< apollo::common::math::Vec2d > &  ref_point,
const std::vector< double > &  longitudinal_bound,
const std::vector< double > &  lateral_bound 
)

◆ Add2dSecondDerivativeBoundary()

bool apollo::planning::Spline2dConstraint::Add2dSecondDerivativeBoundary ( const std::vector< double > &  t_coord,
const std::vector< double > &  angle,
const std::vector< apollo::common::math::Vec2d > &  ref_point,
const std::vector< double > &  longitudinal_bound,
const std::vector< double > &  lateral_bound 
)

◆ Add2dThirdDerivativeBoundary()

bool apollo::planning::Spline2dConstraint::Add2dThirdDerivativeBoundary ( const std::vector< double > &  t_coord,
const std::vector< double > &  angle,
const std::vector< apollo::common::math::Vec2d > &  ref_point,
const std::vector< double > &  longitudinal_bound,
const std::vector< double > &  lateral_bound 
)

◆ AddDerivativeSmoothConstraint()

bool apollo::planning::Spline2dConstraint::AddDerivativeSmoothConstraint ( )

◆ AddEqualityConstraint()

bool apollo::planning::Spline2dConstraint::AddEqualityConstraint ( const Eigen::MatrixXd &  constraint_matrix,
const Eigen::MatrixXd &  constraint_boundary 
)

◆ AddInequalityConstraint()

bool apollo::planning::Spline2dConstraint::AddInequalityConstraint ( const Eigen::MatrixXd &  constraint_matrix,
const Eigen::MatrixXd &  constraint_boundary 
)

◆ AddPointAngleConstraint()

bool apollo::planning::Spline2dConstraint::AddPointAngleConstraint ( const double  t,
const double  angle 
)

◆ AddPointConstraint()

bool apollo::planning::Spline2dConstraint::AddPointConstraint ( const double  t,
const double  x,
const double  y 
)

◆ AddPointSecondDerivativeConstraint()

bool apollo::planning::Spline2dConstraint::AddPointSecondDerivativeConstraint ( const double  t,
const double  ddx,
const double  ddy 
)

◆ AddPointThirdDerivativeConstraint()

bool apollo::planning::Spline2dConstraint::AddPointThirdDerivativeConstraint ( const double  t,
const double  dddx,
const double  dddy 
)

◆ AddSecondDerivativeSmoothConstraint()

bool apollo::planning::Spline2dConstraint::AddSecondDerivativeSmoothConstraint ( )

◆ AddSmoothConstraint()

bool apollo::planning::Spline2dConstraint::AddSmoothConstraint ( )

◆ AddThirdDerivativeSmoothConstraint()

bool apollo::planning::Spline2dConstraint::AddThirdDerivativeSmoothConstraint ( )

◆ equality_constraint()

const AffineConstraint& apollo::planning::Spline2dConstraint::equality_constraint ( ) const

◆ inequality_constraint()

const AffineConstraint& apollo::planning::Spline2dConstraint::inequality_constraint ( ) const

: output interface inequality constraint

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