#include <autotuning_raw_feature_generator.h>

apollo::planning::AutotuningRawFeatureGenerator 的协作图:

Public 成员函数
	AutotuningRawFeatureGenerator (const double time_range, const size_t num_points, const ReferenceLineInfo &reference_line_info, const Frame &frame, const SpeedLimit &speed_limit)

common::Status	EvaluateTrajectory (const std::vector< common::TrajectoryPoint > &trajectory, autotuning::TrajectoryRawFeature *const trajectory_feature) const
	evaluate trajectory with environment, generate model trajectory features

common::Status	EvaluateTrajectoryPoint (const common::TrajectoryPoint &trajectory_point, autotuning::TrajectoryPointRawFeature *const trajectory_point_feature) const
	evaluate trajectory point with environment, generate model trajectory features

common::Status	EvaluateSpeedProfile (const std::vector< common::SpeedPoint > &speed_profile, autotuning::TrajectoryRawFeature *const trajectory_feature) const
	EvaluateSpeed Profile shall match the time range as well as resolution

详细描述

在文件 autotuning_raw_feature_generator.h 第 32 行定义.

构造及析构函数说明

◆ AutotuningRawFeatureGenerator()

apollo::planning::AutotuningRawFeatureGenerator::AutotuningRawFeatureGenerator	(	const double	time_range,
		const size_t	num_points,
		const ReferenceLineInfo &	reference_line_info,
		const Frame &	frame,
		const SpeedLimit &	speed_limit
	)

在文件 autotuning_raw_feature_generator.cc 第 37 行定义.

    : reference_line_info_(reference_line_info),
      frame_(frame),
      speed_limit_(speed_limit),
      obs_boundaries_(num_points, std::vector<std::array<double, 3>>()),
      stop_boundaries_(num_points, std::vector<std::array<double, 3>>()),
      nudge_boundaries_(num_points, std::vector<std::array<double, 3>>()),
      side_pass_boundaries_(num_points, std::vector<std::array<double, 3>>()) {
  CHECK_GT(num_points, 0U);
  CHECK_GT(time_range, kMinTimeRange);
  double res = time_range / static_cast<double>(num_points);
  for (double t = 0; t < res + time_range; t += res) {
    eval_time_.push_back(t);
  }
}

成员函数说明

◆ EvaluateSpeedProfile()

common::Status apollo::planning::AutotuningRawFeatureGenerator::EvaluateSpeedProfile	(	const std::vector< common::SpeedPoint > &	speed_profile,
		autotuning::TrajectoryRawFeature *const	trajectory_feature
	)		const

EvaluateSpeed Profile shall match the time range as well as resolution

在文件 autotuning_raw_feature_generator.cc 第 129 行定义.

                                                                    {
  if (speed_profile.size() != eval_time_.size()) {
    const std::string msg = "mismatched evaluated time and speed profile size";
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
  for (size_t i = 0; i < eval_time_.size(); ++i) {
    auto* trajectory_point_feature = trajectory_feature->add_point_feature();
    auto status =
        EvaluateSpeedPoint(speed_profile[i], i, trajectory_point_feature);
    if (status != common::Status::OK()) {
      const std::string msg = "Extracting speed profile error";
      AERROR << msg;
      return Status(ErrorCode::PLANNING_ERROR, msg);
    }
  }
  return common::Status::OK();
}

◆ EvaluateTrajectory()

common::Status apollo::planning::AutotuningRawFeatureGenerator::EvaluateTrajectory	(	const std::vector< common::TrajectoryPoint > &	trajectory,
		autotuning::TrajectoryRawFeature *const	trajectory_feature
	)		const

evaluate trajectory with environment, generate model trajectory features

参数

reference	line related info
frame	related status

返回: OK if the evaluation succeeds; error otherwise.

在文件 autotuning_raw_feature_generator.cc 第 56 行定义.

                                                                    {
  return common::Status::OK();
}

◆ EvaluateTrajectoryPoint()

common::Status apollo::planning::AutotuningRawFeatureGenerator::EvaluateTrajectoryPoint	(	const common::TrajectoryPoint &	trajectory_point,
		autotuning::TrajectoryPointRawFeature *const	trajectory_point_feature
	)		const

evaluate trajectory point with environment, generate model trajectory features