apollo::planning::BaseStageCruise类 参考

#include <base_stage_cruise.h>

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

apollo::planning::BaseStageCruise 的协作图:

Public 成员函数
bool	CheckDone (const Frame &frame, const PlanningContext *context, const bool right_of_way_status)
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_cruise.h 第 36 行定义.

成员函数说明

CheckDone()

bool apollo::planning::BaseStageCruise::CheckDone	(	const Frame &	frame,
		const PlanningContext *	context,
		const bool	right_of_way_status
	)

在文件 base_stage_cruise.cc 第 34 行定义.

                                                                {
  const auto& reference_line_info = frame.reference_line_info().front();
 
  const auto& junction_overlaps =
      reference_line_info.reference_line().map_path().junction_overlaps();
  if (junction_overlaps.empty()) {
    // TODO(all): remove when pnc_junction completely available on map
    // pnc_junction not exist on map, use current traffic_sign's end_s
    // get traffic sign overlap along reference line
    hdmap::PathOverlap* traffic_sign_overlap =
        GetTrafficSignOverlap(reference_line_info, context);
    if (!traffic_sign_overlap) {
      return true;
    }
 
    static constexpr double kIntersectionPassDist = 20.0;  // unit: m
    const double adc_back_edge_s =
        reference_line_info.AdcSlBoundary().start_s();
    const double distance_adc_pass_traffic_sign =
        adc_back_edge_s - traffic_sign_overlap->end_s;
    ADEBUG << "distance_adc_pass_traffic_sign["
           << distance_adc_pass_traffic_sign << "] traffic_sign_end_s["
           << traffic_sign_overlap->end_s << "]";
 
    // set right_of_way_status
    reference_line_info.SetJunctionRightOfWay(traffic_sign_overlap->start_s,
                                              right_of_way_status);
 
    return distance_adc_pass_traffic_sign >= kIntersectionPassDist;
  }
 
  if (!planning::util::CheckInsideJunction(reference_line_info)) {
    return true;
  }
 
  // set right_of_way_status
  hdmap::PathOverlap junction_overlap;
  const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
  reference_line_info.GetJunction(adc_front_edge_s, &junction_overlap);
  reference_line_info.SetJunctionRightOfWay(junction_overlap.start_s,
                                            right_of_way_status);
 
  return false;
}

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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_cruise.h
• modules/planning/planning_interface_base/scenario_base/base_stage_cruise.cc