apollo::prediction::math_util Namespace Reference

Functions
double	Normalize (const double value, const double mean, const double std)
	Normalize the value by specified mean and standard deviation. More...
double	Relu (const double value)
	RELU function used in neural networks as an activation function. More...
std::vector< double >	Softmax (const std::vector< double > &value, bool use_exp=true)
	Softmax function used in neural networks as an activation function. More...
int	SolveQuadraticEquation (const std::vector< double > &coefficients, std::pair< double, double > *roots)
	Solve quadratic equation. More...
double	EvaluateQuinticPolynomial (const std::array< double, 6 > &coeffs, const double t, const uint32_t order, const double end_t, const double end_v)
	Evaluate quintic polynomial. More...
double	EvaluateQuarticPolynomial (const std::array< double, 5 > &coeffs, const double t, const uint32_t order, const double end_t, const double end_v)
	Evaluate quartic polynomial. More...
double	EvaluateCubicPolynomial (const std::array< double, 4 > &coefs, const double t, const uint32_t order, const double end_t=std::numeric_limits< double >::infinity(), const double end_v=0.0)
	Evaluate cubic polynomial. More...
template<std::size_t N>
std::array< double, 2 *N - 2 >	ComputePolynomial (const std::array< double, N - 1 > &start_state, const std::array< double, N - 1 > &end_state, const double param)
template<>
std::array< double, 4 >	ComputePolynomial< 3 > (const std::array< double, 2 > &start_state, const std::array< double, 2 > &end_state, const double param)
double	GetSByConstantAcceleration (const double v0, const double acceleration, const double t)

Function Documentation

ComputePolynomial()

template<std::size_t N>

std::array<double, 2 * N - 2> apollo::prediction::math_util::ComputePolynomial	(	const std::array< double, N - 1 > &	start_state,
		const std::array< double, N - 1 > &	end_state,
		const double	param
	)

ComputePolynomial< 3 >()

template<>

std::array<double, 4> apollo::prediction::math_util::ComputePolynomial< 3 > ( const std::array< double, 2 > &  start_state, const std::array< double, 2 > &  end_state, const double  param  )

inline

EvaluateCubicPolynomial()

double apollo::prediction::math_util::EvaluateCubicPolynomial	(	const std::array< double, 4 > &	coefs,
		const double	t,
		const uint32_t	order,
		const double	end_t = std::numeric_limits< double >::infinity(),
		const double	end_v = 0.0
	)

Evaluate cubic polynomial.

Parameters

coefficients	of the cubic polynomial, lower to higher.
parameter	of the cubic polynomial.
end_t	ending time for extrapolation.
end_v	ending velocity for extrapolation.

Returns

order of derivative to evaluate.

EvaluateQuarticPolynomial()

double apollo::prediction::math_util::EvaluateQuarticPolynomial	(	const std::array< double, 5 > &	coeffs,
		const double	t,
		const uint32_t	order,
		const double	end_t,
		const double	end_v
	)

Evaluate quartic polynomial.

Parameters

coefficients	of the quartic polynomial, lower to higher.
parameter	of the quartic polynomial.

Returns

order of derivative to evaluate.

EvaluateQuinticPolynomial()

double apollo::prediction::math_util::EvaluateQuinticPolynomial	(	const std::array< double, 6 > &	coeffs,
		const double	t,
		const uint32_t	order,
		const double	end_t,
		const double	end_v
	)

Evaluate quintic polynomial.

Parameters

coefficients	of the quintic polynomial, lower to higher.
parameter	of the quintic polynomial.

Returns

order of derivative to evaluate.

GetSByConstantAcceleration()

double apollo::prediction::math_util::GetSByConstantAcceleration	(	const double	v0,
		const double	acceleration,
		const double	t
	)

Normalize()

double apollo::prediction::math_util::Normalize	(	const double	value,
		const double	mean,
		const double	std
	)

Normalize the value by specified mean and standard deviation.

Parameters

value	The value to be normalized.
mean	The mean used for normalization.
std	The standard deviation used for normalization.

Returns

The normalized value.

Relu()

double apollo::prediction::math_util::Relu

(

const double

value

)

RELU function used in neural networks as an activation function.

Parameters

value

The input.

Returns

The output of RELU function.

Softmax()

std::vector<double> apollo::prediction::math_util::Softmax	(	const std::vector< double > &	value,
		bool	use_exp = true
	)

Softmax function used in neural networks as an activation function.

Parameters

vector

The input.

Returns

The output of Softmax function.

SolveQuadraticEquation()

int apollo::prediction::math_util::SolveQuadraticEquation	(	const std::vector< double > &	coefficients,
		std::pair< double, double > *	roots
	)

Solve quadratic equation.

Parameters

coefficients	The coefficients of quadratic equation.
roots	Two roots of the equation if any.

Returns

An integer indicating the success of solving equation.