apollo::planning::BaseStageCreep类 参考

#include <base_stage_creep.h>

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

apollo::planning::BaseStageCreep 的协作图:

Public 成员函数
common::Status	ProcessCreep (Frame *frame, ReferenceLineInfo *reference_line_info) const
bool	CheckCreepDone (const Frame &frame, const ReferenceLineInfo &reference_line_info, const double stop_sign_overlap_end_s, const double wait_time_sec, const double timeout_sec)
double	GetCreepFinishS (double overlap_end_s, const Frame &frame, const ReferenceLineInfo &reference_line_info) const
	Get the postion where creeping stage finishes.
Public 成员函数 继承自 apollo::planning::Stage
	Stage ()
virtual bool	Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)
virtual	~Stage ()=default
virtual StageResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)=0
	Each stage does its business logic inside Process function.
const std::string &	Name () const
template<typename T >
T *	GetContextAs () const
const std::string &	NextStage () const

额外继承的成员函数
Protected 成员函数 继承自 apollo::planning::Stage
StageResult	ExecuteTaskOnReferenceLine (const common::TrajectoryPoint &planning_start_point, Frame *frame)
StageResult	ExecuteTaskOnReferenceLineForOnlineLearning (const common::TrajectoryPoint &planning_start_point, Frame *frame)
StageResult	ExecuteTaskOnOpenSpace (Frame *frame)
virtual StageResult	FinishScenario ()
void	RecordDebugInfo (ReferenceLineInfo *reference_line_info, const std::string &name, const double time_diff_ms)
Protected 属性 继承自 apollo::planning::Stage
std::vector< std::shared_ptr< Task > >	task_list_
std::shared_ptr< Task >	fallback_task_
std::string	next_stage_
void *	context_
std::shared_ptr< DependencyInjector >	injector_
StagePipeline	pipeline_config_

详细描述

在文件 base_stage_creep.h 第 41 行定义.

成员函数说明

CheckCreepDone()

bool apollo::planning::BaseStageCreep::CheckCreepDone	(	const Frame &	frame,
		const ReferenceLineInfo &	reference_line_info,
		const double	stop_sign_overlap_end_s,
		const double	wait_time_sec,
		const double	timeout_sec
	)

在文件 base_stage_creep.cc 第 79 行定义.

                              {
  const auto& creep_config = GetCreepStageConfig();
  bool creep_done = false;
  double creep_stop_s =
      GetCreepFinishS(traffic_sign_overlap_end_s, frame, reference_line_info);
 
  const double distance =
      creep_stop_s - reference_line_info.AdcSlBoundary().end_s();
  if (distance < 0.0 || wait_time_sec >= timeout_sec) {
    bool all_far_away = true;
    for (auto* obstacle :
         reference_line_info.path_decision().obstacles().Items()) {
      if (obstacle->IsVirtual() || obstacle->IsStatic()) {
        continue;
      }
      if (obstacle->reference_line_st_boundary().min_t() <
          creep_config.min_boundary_t()) {
        const double kepsilon = 1e-6;
        double obstacle_traveled_s =
            obstacle->reference_line_st_boundary().bottom_left_point().s() -
            obstacle->reference_line_st_boundary().bottom_right_point().s();
        ADEBUG << "obstacle[" << obstacle->Id() << "] obstacle_st_min_t["
               << obstacle->reference_line_st_boundary().min_t()
               << "] obstacle_st_min_s["
               << obstacle->reference_line_st_boundary().min_s()
               << "] obstacle_traveled_s[" << obstacle_traveled_s << "]";
 
        // ignore the obstacle which is already on reference line and moving
        // along the direction of ADC
        if (obstacle_traveled_s < kepsilon &&
            obstacle->reference_line_st_boundary().min_t() <
                creep_config.ignore_max_st_min_t() &&
            obstacle->reference_line_st_boundary().min_s() >
                creep_config.ignore_min_st_min_s()) {
          continue;
        }
        all_far_away = false;
        break;
      }
    }
    auto* creep_decider_status = injector_->planning_context()
                                     ->mutable_planning_status()
                                     ->mutable_creep_decider();
    int creep_clear_counter = creep_decider_status->creep_clear_counter();
    creep_clear_counter = all_far_away ? creep_clear_counter + 1 : 0;
    if (creep_clear_counter >= 5) {
      creep_clear_counter = 0;  // reset
      creep_done = true;
    }
    // use PlanningContext instead of static counter for multi-ADC
    creep_decider_status->set_creep_clear_counter(creep_clear_counter);
  }
 
  return creep_done;
}

GetCreepFinishS()

double apollo::planning::BaseStageCreep::GetCreepFinishS	(	double	overlap_end_s,
		const Frame &	frame,
		const ReferenceLineInfo &	reference_line_info
	)		const

Get the postion where creeping stage finishes.

When the front edge of vehicle reaches the position, the creeping stage finishes.

参数

overlap_end_s	The end s mapped to reference line of the overlap.
frame	The frame information for current planning cycle.
reference_line_info	The reference line information of current planning cycle.

返回

The distance where creeping stage finishes.

在文件 base_stage_creep.cc 第 72 行定义.

                                                        {
  // todo: more delicate design of creep finish distance
  return GetCreepTargetS(overlap_end_s, frame, reference_line_info) - 2.0;
}

ProcessCreep()

Status apollo::planning::BaseStageCreep::ProcessCreep	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)		const

在文件 base_stage_creep.cc 第 41 行定义.

                                                                {
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(reference_line_info);
 
  double overlap_end_s = 0.0;
  std::string current_overlap_id;
  bool is_get_overlap_info = GetOverlapStopInfo(
      frame, reference_line_info, &overlap_end_s, &current_overlap_id);
 
  if (is_get_overlap_info) {
    std::string virtual_obstacle_id = CREEP_VO_ID_PREFIX_ + current_overlap_id;
    const double creep_stop_s =
        GetCreepTargetS(overlap_end_s, *frame, *reference_line_info);
    const std::vector<std::string> wait_for_obstacles;
    util::BuildStopDecision(virtual_obstacle_id, creep_stop_s, 0.0,
                            StopReasonCode::STOP_REASON_CREEPER,
                            wait_for_obstacles, "CreepDecider", frame,
                            reference_line_info);
  }
 
  return Status::OK();
}

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该类的文档由以下文件生成:

• modules/planning/planning_interface_base/scenario_base/base_stage_creep.h
• modules/planning/planning_interface_base/scenario_base/base_stage_creep.cc