apollo::planning::DecisionData类 参考

#include <decision_data.h>

apollo::planning::DecisionData 的协作图:

Public 成员函数
	DecisionData (const prediction::PredictionObstacles &prediction_obstacles, const ReferenceLine &reference_line)
	~DecisionData ()=default
Obstacle *	GetObstacleById (const std::string &id)
std::vector< Obstacle * >	GetObstacleByType (const VirtualObjectType &type)
std::unordered_set< std::string >	GetObstacleIdByType (const VirtualObjectType &type)
const std::vector< Obstacle * > &	GetStaticObstacle () const
const std::vector< Obstacle * > &	GetDynamicObstacle () const
const std::vector< Obstacle * > &	GetVirtualObstacle () const
const std::vector< Obstacle * > &	GetPracticalObstacle () const
const std::vector< Obstacle * > &	GetAllObstacle () const
bool	CreateVirtualObstacle (const ReferencePoint &point, const VirtualObjectType &type, std::string *const id)
bool	CreateVirtualObstacle (const double point_s, const VirtualObjectType &type, std::string *const id)

详细描述

在文件 decision_data.h 第 44 行定义.

构造及析构函数说明

DecisionData()

apollo::planning::DecisionData::DecisionData	(	const prediction::PredictionObstacles &	prediction_obstacles,
		const ReferenceLine &	reference_line
	)

在文件 decision_data.cc 第 48 行定义.

    : reference_line_(reference_line) {
  for (const auto& prediction_obstacle :
       prediction_obstacles.prediction_obstacle()) {
    const std::string perception_id =
        std::to_string(prediction_obstacle.perception_obstacle().id());
    if (prediction_obstacle.trajectory().empty()) {
      obstacles_.emplace_back(new Obstacle(
          perception_id, prediction_obstacle.perception_obstacle()));
      all_obstacle_.emplace_back(obstacles_.back().get());
      practical_obstacle_.emplace_back(obstacles_.back().get());
      static_obstacle_.emplace_back(obstacles_.back().get());
      obstacle_map_[perception_id] = obstacles_.back().get();
      continue;
    }
    int trajectory_index = 0;
    for (const auto& trajectory : prediction_obstacle.trajectory()) {
      if (!IsValidTrajectory(trajectory)) {
        AERROR << "obj:" << perception_id;
        continue;
      }
      const std::string obstacle_id =
          absl::StrCat(perception_id, "_", trajectory_index);
      obstacles_.emplace_back(new Obstacle(
          obstacle_id, prediction_obstacle.perception_obstacle(), trajectory));
      all_obstacle_.emplace_back(obstacles_.back().get());
      practical_obstacle_.emplace_back(obstacles_.back().get());
      dynamic_obstacle_.emplace_back(obstacles_.back().get());
      obstacle_map_[obstacle_id] = obstacles_.back().get();
      ++trajectory_index;
    }
  }
}

~DecisionData()

apollo::planning::DecisionData::~DecisionData ( )

default

成员函数说明

CreateVirtualObstacle() [1/2]

bool apollo::planning::DecisionData::CreateVirtualObstacle	(	const double	point_s,
		const VirtualObjectType &	type,
		std::string *const	id
	)

在文件 decision_data.cc 第 154 行定义.

                                                              {
  // should build different box by type;
  const double box_center_s = point_s + FLAGS_virtual_stop_wall_length / 2.0;
  auto box_center = reference_line_.GetReferencePoint(box_center_s);
  double heading = reference_line_.GetReferencePoint(point_s).heading();
  double lane_left_width = 0.0;
  double lane_right_width = 0.0;
  reference_line_.GetLaneWidth(point_s, &lane_left_width, &lane_right_width);
  common::math::Box2d box(box_center, heading, FLAGS_virtual_stop_wall_length,
                          lane_left_width + lane_right_width);
  return CreateVirtualObstacle(box, type, id);
}

CreateVirtualObstacle() [2/2]

bool apollo::planning::DecisionData::CreateVirtualObstacle	(	const ReferencePoint &	point,
		const VirtualObjectType &	type,
		std::string *const	id
	)

在文件 decision_data.cc 第 134 行定义.

                                                              {
  // should build different box by type;
  common::SLPoint sl_point;
  if (!reference_line_.XYToSL(point, &sl_point)) {
    return false;
  }
  double obstacle_s = sl_point.s();
  const double box_center_s = obstacle_s + FLAGS_virtual_stop_wall_length / 2.0;
  auto box_center = reference_line_.GetReferencePoint(box_center_s);
  double heading = reference_line_.GetReferencePoint(obstacle_s).heading();
  double lane_left_width = 0.0;
  double lane_right_width = 0.0;
  reference_line_.GetLaneWidth(obstacle_s, &lane_left_width, &lane_right_width);
  common::math::Box2d box(box_center, heading, FLAGS_virtual_stop_wall_length,
                          lane_left_width + lane_right_width);
  return CreateVirtualObstacle(box, type, id);
}

GetAllObstacle()

const std::vector< Obstacle * > & apollo::planning::DecisionData::GetAllObstacle

(

)

const

在文件 decision_data.cc 第 130 行定义.

                                                               {
  return all_obstacle_;
}

GetDynamicObstacle()

const std::vector< Obstacle * > & apollo::planning::DecisionData::GetDynamicObstacle

(

)

const

在文件 decision_data.cc 第 118 行定义.

                                                                   {
  return dynamic_obstacle_;
}

GetObstacleById()

Obstacle * apollo::planning::DecisionData::GetObstacleById

(

const std::string &

id

)

在文件 decision_data.cc 第 84 行定义.

                                                           {
  std::lock_guard<std::mutex> lock(mutex_);
  return common::util::FindPtrOrNull(obstacle_map_, id);
}

GetObstacleByType()

std::vector< Obstacle * > apollo::planning::DecisionData::GetObstacleByType

(

const VirtualObjectType &

type

)

在文件 decision_data.cc 第 89 行定义.

                                   {
  std::lock_guard<std::mutex> lock(transaction_mutex_);
 
  std::unordered_set<std::string> ids = GetObstacleIdByType(type);
  if (ids.empty()) {
    return std::vector<Obstacle*>();
  }
  std::vector<Obstacle*> ret;
  for (const std::string& id : ids) {
    ret.emplace_back(GetObstacleById(id));
    if (ret.back() == nullptr) {
      AERROR << "Ignore. can't find obstacle by id: " << id;
      ret.pop_back();
    }
  }
  return ret;
}

GetObstacleIdByType()

std::unordered_set< std::string > apollo::planning::DecisionData::GetObstacleIdByType

(

const VirtualObjectType &

type

)

在文件 decision_data.cc 第 108 行定义.

                                   {
  std::lock_guard<std::mutex> lock(mutex_);
  return common::util::FindWithDefault(virtual_obstacle_id_map_, type, {});
}

GetPracticalObstacle()

const std::vector< Obstacle * > & apollo::planning::DecisionData::GetPracticalObstacle

(

)

const

在文件 decision_data.cc 第 126 行定义.

                                                                     {
  return practical_obstacle_;
}

GetStaticObstacle()

const std::vector< Obstacle * > & apollo::planning::DecisionData::GetStaticObstacle

(

)

const

在文件 decision_data.cc 第 114 行定义.

                                                                  {
  return static_obstacle_;
}

GetVirtualObstacle()

const std::vector< Obstacle * > & apollo::planning::DecisionData::GetVirtualObstacle

(

)

const

在文件 decision_data.cc 第 122 行定义.

                                                                   {
  return virtual_obstacle_;
}

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该类的文档由以下文件生成:

• modules/planning/planning_base/common/decision_data.h
• modules/planning/planning_base/common/decision_data.cc