apollo::prediction::predictor_util Namespace Reference

Functions
void	TranslatePoint (const double translate_x, const double translate_y, common::TrajectoryPoint *point)
	Translate a point. More...
void	GenerateFreeMoveTrajectoryPoints (Eigen::Matrix< double, 6, 1 > *state, const Eigen::Matrix< double, 6, 6 > &transition, double theta, const double start_time, const std::size_t num, const double period, std::vector< common::TrajectoryPoint > *points)
	Generate a set of free move trajectory points. More...
double	AdjustSpeedByCurvature (const double speed, const double curvature)
	Adjust a speed value according to a curvature. If the input speed is okay on the input curvature, return the original speed, otherwise, adjust the speed. More...

Function Documentation

AdjustSpeedByCurvature()

double apollo::prediction::predictor_util::AdjustSpeedByCurvature	(	const double	speed,
		const double	curvature
	)

Adjust a speed value according to a curvature. If the input speed is okay on the input curvature, return the original speed, otherwise, adjust the speed.

Parameters

speed	The original speed value.
curvature	The curvature value.

Returns

The adjusted speed according to the curvature.

GenerateFreeMoveTrajectoryPoints()

void apollo::prediction::predictor_util::GenerateFreeMoveTrajectoryPoints	(	Eigen::Matrix< double, 6, 1 > *	state,
		const Eigen::Matrix< double, 6, 6 > &	transition,
		double	theta,
		const double	start_time,
		const std::size_t	num,
		const double	period,
		std::vector< common::TrajectoryPoint > *	points
	)

Generate a set of free move trajectory points.

Parameters

state	matrix
transition	matrix
heading
start	time
total	number of generated trajectory points required
trajectory	point interval period
generated	trajectory points

TranslatePoint()

void apollo::prediction::predictor_util::TranslatePoint	(	const double	translate_x,
		const double	translate_y,
		common::TrajectoryPoint *	point
	)

Translate a point.

Parameters

translate_x	The translation along x-axis.
translate_y	The translation along y-axis.
point	The point to be translated.