Udacity 5.Behavior_Planning 6

udacity5_Behavior_Planner 设计6 cost.h 代码解析

cost.h 头文件代码解析

损失函数

#ifndef COST_H
#define COST_H

#include "vehicle.h"

using std::map;
using std::string;
using std::vector;

float calculate_cost(const Vehicle &vehicle, //计算损失函数，const代表不可修改
                     const map<int, vector<Vehicle>> &predictions, 
                     const vector<Vehicle> &trajectory);

float goal_distance_cost(const Vehicle &vehicle,  //目标距离损失
                         const vector<Vehicle> &trajectory,  
                         const map<int, vector<Vehicle>> &predictions, 
                         map<string, float> &data);

float inefficiency_cost(const Vehicle &vehicle, //无效率成本
                        const vector<Vehicle> &trajectory, 
                        const map<int, vector<Vehicle>> &predictions, 
                        map<string, float> &data);

float lane_speed(const map<int, vector<Vehicle>> &predictions, int lane);//道路速度

map<string, float> get_helper_data(const Vehicle &vehicle, //获取帮助数据
                                   const vector<Vehicle> &trajectory, 
                                   const map<int, vector<Vehicle>> &predictions);

#endif  // COST_H