#include <st_graph_data.h>

apollo::planning::StGraphData 的协作图:

Public 成员函数
	StGraphData ()=default

void	LoadData (const std::vector< const STBoundary * > &st_boundaries, const double min_s_on_st_boundaries, const apollo::common::TrajectoryPoint &init_point, const SpeedLimit &speed_limit, const double cruise_speed, const double path_data_length, const double total_time_by_conf, planning_internal::STGraphDebug *st_graph_debug)

bool	is_initialized () const

const std::vector< const STBoundary * > &	st_boundaries () const

double	min_s_on_st_boundaries () const

const apollo::common::TrajectoryPoint &	init_point () const

const SpeedLimit &	speed_limit () const

double	cruise_speed () const

double	path_length () const

double	total_time_by_conf () const

planning_internal::STGraphDebug *	mutable_st_graph_debug ()

bool	SetSTDrivableBoundary (const std::vector< std::tuple< double, double, double > > &s_boundary, const std::vector< std::tuple< double, double, double > > &v_obs_info)

const STDrivableBoundary &	st_drivable_boundary () const

详细描述

在文件 st_graph_data.h 第 38 行定义.

构造及析构函数说明

◆ StGraphData()

apollo::planning::StGraphData::StGraphData ( )

default

成员函数说明

◆ cruise_speed()

double apollo::planning::StGraphData::cruise_speed ( ) const

在文件 st_graph_data.cc 第 61 行定义.

                                       {
  return cruise_speed_ > 0.0 ? cruise_speed_ : FLAGS_default_cruise_speed;
}

◆ init_point()

const TrajectoryPoint & apollo::planning::StGraphData::init_point ( ) const

在文件 st_graph_data.cc 第 57 行定义.

57{ return init_point_; }

◆ is_initialized()

bool apollo::planning::StGraphData::is_initialized ( ) const

inline

在文件 st_graph_data.h 第 49 行定义.

49{ return init_; }

◆ LoadData()

void apollo::planning::StGraphData::LoadData	(	const std::vector< const STBoundary * > &	st_boundaries,
		const double	min_s_on_st_boundaries,
		const apollo::common::TrajectoryPoint &	init_point,
		const SpeedLimit &	speed_limit,
		const double	cruise_speed,
		const double	path_data_length,
		const double	total_time_by_conf,
		planning_internal::STGraphDebug *	st_graph_debug
	)

在文件 st_graph_data.cc 第 30 行定义.

                                                                          {
  init_ = true;
  st_boundaries_ = st_boundaries;
  min_s_on_st_boundaries_ = min_s_on_st_boundaries;
  init_point_ = init_point;
  speed_limit_ = speed_limit;
  cruise_speed_ = cruise_speed;
  path_data_length_ = path_data_length;
  total_time_by_conf_ = total_time_by_conf;
  st_graph_debug_ = st_graph_debug;
}

◆ min_s_on_st_boundaries()

double apollo::planning::StGraphData::min_s_on_st_boundaries ( ) const

在文件 st_graph_data.cc 第 53 行定义.

                                                 {
  return min_s_on_st_boundaries_;
}

◆ mutable_st_graph_debug()

planning_internal::STGraphDebug * apollo::planning::StGraphData::mutable_st_graph_debug ( )

在文件 st_graph_data.cc 第 69 行定义.

                                                                   {
  return st_graph_debug_;
}

◆ path_length()

double apollo::planning::StGraphData::path_length ( ) const

在文件 st_graph_data.cc 第 65 行定义.

65{ return path_data_length_; }

◆ SetSTDrivableBoundary()

bool apollo::planning::StGraphData::SetSTDrivableBoundary	(	const std::vector< std::tuple< double, double, double > > &	s_boundary,
		const std::vector< std::tuple< double, double, double > > &	v_obs_info
	)

在文件 st_graph_data.cc 第 73 行定义.

                                                                   {
  if (s_boundary.size() != v_obs_info.size()) {
    return false;
  }
  for (size_t i = 0; i < s_boundary.size(); ++i) {
    auto st_bound_instance = st_drivable_boundary_.add_st_boundary();
    st_bound_instance->set_t(std::get<0>(s_boundary[i]));
    st_bound_instance->set_s_lower(std::get<1>(s_boundary[i]));
    st_bound_instance->set_s_upper(std::get<2>(s_boundary[i]));
    if (std::get<1>(v_obs_info[i]) > -kObsSpeedIgnoreThreshold) {
      st_bound_instance->set_v_obs_lower(std::get<1>(v_obs_info[i]));
    }
    if (std::get<2>(v_obs_info[i]) < kObsSpeedIgnoreThreshold) {
      st_bound_instance->set_v_obs_upper(std::get<2>(v_obs_info[i]));
    }
  }
  return true;
}

◆ speed_limit()

const SpeedLimit & apollo::planning::StGraphData::speed_limit ( ) const

在文件 st_graph_data.cc 第 59 行定义.

59{ return speed_limit_; }

◆ st_boundaries()

const std::vector< const STBoundary * > & apollo::planning::StGraphData::st_boundaries ( ) const

在文件 st_graph_data.cc 第 49 行定义.

                                                                     {
  return st_boundaries_;
}

◆ st_drivable_boundary()

const STDrivableBoundary & apollo::planning::StGraphData::st_drivable_boundary ( ) const

在文件 st_graph_data.cc 第 94 行定义.

                                                                  {
  return st_drivable_boundary_;
}

◆ total_time_by_conf()

double apollo::planning::StGraphData::total_time_by_conf ( ) const

在文件 st_graph_data.cc 第 67 行定义.

67{ return total_time_by_conf_; }

该类的文档由以下文件生成:

modules/planning/planning_base/common/st_graph_data.h
modules/planning/planning_base/common/st_graph_data.cc

Public 成员函数