prediction_util.h File Reference

#include <limits>
#include <utility>
#include <vector>
#include "Eigen/Dense"
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/prediction/common/prediction_gflags.h"

Include dependency graph for prediction_util.h:

Go to the source code of this file.

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::prediction
	apollo::prediction
	apollo::prediction::math_util
	apollo::prediction::predictor_util

Functions
double	apollo::prediction::math_util::Normalize (const double value, const double mean, const double std)
	Normalize the value by specified mean and standard deviation. More...
double	apollo::prediction::math_util::Relu (const double value)
	RELU function used in neural networks as an activation function. More...
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. More...
int	apollo::prediction::math_util::SolveQuadraticEquation (const std::vector< double > &coefficients, std::pair< double, double > *roots)
	Solve quadratic equation. More...
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. More...
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. More...
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. More...
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)
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)
double	apollo::prediction::math_util::GetSByConstantAcceleration (const double v0, const double acceleration, const double t)
void	apollo::prediction::predictor_util::TranslatePoint (const double translate_x, const double translate_y, common::TrajectoryPoint *point)
	Translate a point. More...
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. More...
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. More...