apollo::planning::TrajectoryCost Class Reference

#include <trajectory_cost.h>

Collaboration diagram for apollo::planning::TrajectoryCost:

Public Member Functions
	TrajectoryCost ()=default
	TrajectoryCost (const DpPolyPathConfig &config, const ReferenceLine &reference_line, const bool is_change_lane_path, const std::vector< const Obstacle *> &obstacles, const common::VehicleParam &vehicle_param, const SpeedData &heuristic_speed_data, const common::SLPoint &init_sl_point, const SLBoundary &adc_sl_boundary)
ComparableCost	Calculate (const QuinticPolynomialCurve1d &curve, const double start_s, const double end_s, const uint32_t curr_level, const uint32_t total_level)

Constructor & Destructor Documentation

TrajectoryCost() [1/2]

apollo::planning::TrajectoryCost::TrajectoryCost ( )

default

TrajectoryCost() [2/2]

apollo::planning::TrajectoryCost::TrajectoryCost	(	const DpPolyPathConfig &	config,
		const ReferenceLine &	reference_line,
		const bool	is_change_lane_path,
		const std::vector< const Obstacle *> &	obstacles,
		const common::VehicleParam &	vehicle_param,
		const SpeedData &	heuristic_speed_data,
		const common::SLPoint &	init_sl_point,
		const SLBoundary &	adc_sl_boundary
	)

Member Function Documentation

Calculate()

ComparableCost apollo::planning::TrajectoryCost::Calculate	(	const QuinticPolynomialCurve1d &	curve,
		const double	start_s,
		const double	end_s,
		const uint32_t	curr_level,
		const uint32_t	total_level
	)

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

• modules/planning/tasks/optimizers/road_graph/trajectory_cost.h