apollo::planning::AutotuningSpeedFeatureBuilder类 参考

: build the mlp cost functional for speed profile based on trajectory raw feature 更多...

#include <autotuning_speed_feature_builder.h>

类 apollo::planning::AutotuningSpeedFeatureBuilder 继承关系图:

apollo::planning::AutotuningSpeedFeatureBuilder 的协作图:

Public 成员函数
	AutotuningSpeedFeatureBuilder ()=default
virtual	~AutotuningSpeedFeatureBuilder ()=default
common::Status	BuildFeature (const autotuning::TrajectoryRawFeature &raw_feature, autotuning::TrajectoryFeature *const input_feature) const override
common::Status	BuildPointFeature (const autotuning::TrajectoryPointRawFeature &raw_point_feature, autotuning::TrajectoryPointwiseFeature *const point_feature) const override
Public 成员函数 继承自 apollo::planning::AutotuningFeatureBuilder
	AutotuningFeatureBuilder ()=default
	: constructor
virtual	~AutotuningFeatureBuilder ()=default

详细描述

: build the mlp cost functional for speed profile based on trajectory raw feature

在文件 autotuning_speed_feature_builder.h 第 28 行定义.

构造及析构函数说明

AutotuningSpeedFeatureBuilder()

apollo::planning::AutotuningSpeedFeatureBuilder::AutotuningSpeedFeatureBuilder ( )

default

~AutotuningSpeedFeatureBuilder()

virtual apollo::planning::AutotuningSpeedFeatureBuilder::~AutotuningSpeedFeatureBuilder ( )

virtualdefault

成员函数说明

BuildFeature()

Status apollo::planning::AutotuningSpeedFeatureBuilder::BuildFeature ( const autotuning::TrajectoryRawFeature &  raw_feature, autotuning::TrajectoryFeature *const  input_feature  ) const

overridevirtual

参数

	raw feature function input
	generated model input feature from raw feature, function output

实现了 apollo::planning::AutotuningFeatureBuilder.

在文件 autotuning_speed_feature_builder.cc 第 34 行定义.

                                                            {
  if (input_feature == nullptr) {
    const std::string msg = "input trajectory feature is empty";
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
 
  // number of input trajectory point
  int n = input_feature->point_feature_size();
  if (n != raw_feature.point_feature_size()) {
    const std::string msg =
        absl::StrCat("raw and input feature size mismatch. raw: ",
                     raw_feature.point_feature_size(), "; input: ", n);
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
 
  for (int i = 0; i < n; ++i) {
    const auto& raw_point_feature = raw_feature.point_feature(i);
    auto* point_feature = input_feature->mutable_point_feature(i);
    auto status = BuildPointFeature(raw_point_feature, point_feature);
    if (status != Status::OK()) {
      const std::string msg = "pointwise feature adding incorrect";
      return Status(ErrorCode::PLANNING_ERROR, msg);
    }
  }
  return Status::OK();
}

BuildPointFeature()

Status apollo::planning::AutotuningSpeedFeatureBuilder::BuildPointFeature ( const autotuning::TrajectoryPointRawFeature &  raw_point_feature, autotuning::TrajectoryPointwiseFeature *const  point_feature  ) const

overridevirtual

参数

	pointwise raw feature, function input
	generated model input feature, function output

实现了 apollo::planning::AutotuningFeatureBuilder.

在文件 autotuning_speed_feature_builder.cc 第 65 行定义.

                                                                     {
  // set up basic feature:
  double v = raw_point_feature.speed_feature().v();
  auto* speed_feature = point_feature->mutable_speed_input_feature();
  speed_feature->set_s(raw_point_feature.speed_feature().s());
  speed_feature->set_t(raw_point_feature.speed_feature().t());
  speed_feature->set_v(v);
  speed_feature->set_acc(raw_point_feature.speed_feature().a());
  speed_feature->set_jerk(raw_point_feature.speed_feature().j());
  speed_feature->set_speed_limit(
      raw_point_feature.speed_feature().speed_limit());
 
  double kappa = raw_point_feature.path_feature().cartesian_coord().kappa();
  double lateral_acc = v * v * kappa;
 
  speed_feature->set_path_curvature_abs(std::fabs(kappa));
  speed_feature->set_lateral_acc(lateral_acc);
 
  // boundary feature, virtual obstacle , e.g. routing end
  for (int i = 0; i < raw_point_feature.speed_feature().virtual_decision_size();
       ++i) {
    const auto& obj_decision =
        raw_point_feature.speed_feature().virtual_decision(i);
    auto* input_decision = speed_feature->add_virtual_obs_feature();
    map_obstacle_feature(obj_decision, input_decision);
  }
 
  // boundary feature, stop obstacle, based on stop decision
  for (int i = 0; i < raw_point_feature.speed_feature().stop_size(); ++i) {
    const auto& obj_decision = raw_point_feature.speed_feature().stop(i);
    auto* input_decision = speed_feature->add_stop_obs_feature();
    map_obstacle_feature(obj_decision, input_decision);
  }
 
  // boundary feature, overtake obstacle, based on overtake obstacle decision
  for (int i = 0; i < raw_point_feature.speed_feature().overtake_size(); ++i) {
    const auto& obj_decision = raw_point_feature.speed_feature().overtake(i);
    auto* input_decision = speed_feature->add_overtake_obs_feature();
    map_obstacle_feature(obj_decision, input_decision);
  }
 
  // boundary feature, yield/follow obstacle, based on yield/follow obstacle
  // decision
  for (int i = 0; i < raw_point_feature.speed_feature().follow_size(); ++i) {
    const auto& obj_decision = raw_point_feature.speed_feature().follow(i);
    auto* input_decision = speed_feature->add_follow_obs_feature();
    map_obstacle_feature(obj_decision, input_decision);
  }
 
  // boundary feature, nudge obstacle feature
  for (int i = 0; i < raw_point_feature.speed_feature().nudge_size(); ++i) {
    const auto& obj_decision = raw_point_feature.speed_feature().nudge(i);
    auto* input_decision = speed_feature->add_nudge_obs_feature();
    map_nudge_obs_feature(obj_decision, input_decision);
  }
 
  // boundary feature, side pass feature
  for (int i = 0; i < raw_point_feature.speed_feature().sidepass_front_size();
       ++i) {
    const auto& obj_decision =
        raw_point_feature.speed_feature().sidepass_front(i);
    auto* input_decision = speed_feature->add_sidepass_front_obs_feature();
    map_sidepass_obs_feature(obj_decision, input_decision);
  }
  for (int i = 0; i < raw_point_feature.speed_feature().sidepass_rear_size();
       ++i) {
    const auto& obj_decision =
        raw_point_feature.speed_feature().sidepass_rear(i);
    auto* input_decision = speed_feature->add_sidepass_rear_obs_feature();
    map_sidepass_obs_feature(obj_decision, input_decision);
  }
  return Status::OK();
}

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该类的文档由以下文件生成:

• modules/planning/planning_base/learning_based/tuning/speed_model/autotuning_speed_feature_builder.h
• modules/planning/planning_base/learning_based/tuning/speed_model/autotuning_speed_feature_builder.cc