apollo::planning::CollisionChecker类 参考

#include <collision_checker.h>

apollo::planning::CollisionChecker 的协作图:

Public 成员函数
	CollisionChecker (const std::vector< const Obstacle * > &obstacles, const double ego_vehicle_s, const double ego_vehicle_d, const std::vector< common::PathPoint > &discretized_reference_line, const ReferenceLineInfo *ptr_reference_line_info, const std::shared_ptr< PathTimeGraph > &ptr_path_time_graph)
bool	InCollision (const DiscretizedTrajectory &discretized_trajectory)

静态 Public 成员函数
static bool	InCollision (const std::vector< const Obstacle * > &obstacles, const DiscretizedTrajectory &ego_trajectory, const double ego_length, const double ego_width, const double ego_edge_to_center)

详细描述

在文件 collision_checker.h 第 35 行定义.

构造及析构函数说明

CollisionChecker()

apollo::planning::CollisionChecker::CollisionChecker	(	const std::vector< const Obstacle * > &	obstacles,
		const double	ego_vehicle_s,
		const double	ego_vehicle_d,
		const std::vector< common::PathPoint > &	discretized_reference_line,
		const ReferenceLineInfo *	ptr_reference_line_info,
		const std::shared_ptr< PathTimeGraph > &	ptr_path_time_graph
	)

在文件 collision_checker.cc 第 42 行定义.

                                                             {
  ptr_reference_line_info_ = ptr_reference_line_info;
  ptr_path_time_graph_ = ptr_path_time_graph;
  BuildPredictedEnvironment(obstacles, ego_vehicle_s, ego_vehicle_d,
                            discretized_reference_line);
}

成员函数说明

InCollision() [1/2]

bool apollo::planning::CollisionChecker::InCollision

(

const DiscretizedTrajectory &

discretized_trajectory

)

在文件 collision_checker.cc 第 86 行定义.

                                                         {
  CHECK_LE(discretized_trajectory.NumOfPoints(),
           predicted_bounding_rectangles_.size());
  const auto& vehicle_config =
      common::VehicleConfigHelper::Instance()->GetConfig();
  double ego_length = vehicle_config.vehicle_param().length();
  double ego_width = vehicle_config.vehicle_param().width();
 
  for (size_t i = 0; i < discretized_trajectory.NumOfPoints(); ++i) {
    const auto& trajectory_point =
        discretized_trajectory.TrajectoryPointAt(static_cast<std::uint32_t>(i));
    double ego_theta = trajectory_point.path_point().theta();
    Box2d ego_box(
        {trajectory_point.path_point().x(), trajectory_point.path_point().y()},
        ego_theta, ego_length, ego_width);
    double shift_distance =
        ego_length / 2.0 - vehicle_config.vehicle_param().back_edge_to_center();
    Vec2d shift_vec{shift_distance * std::cos(ego_theta),
                    shift_distance * std::sin(ego_theta)};
    ego_box.Shift(shift_vec);
 
    for (const auto& obstacle_box : predicted_bounding_rectangles_[i]) {
      if (ego_box.HasOverlap(obstacle_box)) {
        return true;
      }
    }
  }
  return false;
}

InCollision() [2/2]

bool apollo::planning::CollisionChecker::InCollision ( const std::vector< const Obstacle * > &  obstacles, const DiscretizedTrajectory &  ego_trajectory, const double  ego_length, const double  ego_width, const double  ego_edge_to_center  )

static

在文件 collision_checker.cc 第 54 行定义.

                                                                  {
  for (size_t i = 0; i < ego_trajectory.NumOfPoints(); ++i) {
    const auto& ego_point =
        ego_trajectory.TrajectoryPointAt(static_cast<std::uint32_t>(i));
    const auto relative_time = ego_point.relative_time();
    const auto ego_theta = ego_point.path_point().theta();
 
    Box2d ego_box({ego_point.path_point().x(), ego_point.path_point().y()},
                  ego_theta, ego_length, ego_width);
 
    // correct the inconsistency of reference point and center point
    // TODO(all): move the logic before constructing the ego_box
    double shift_distance = ego_length / 2.0 - ego_back_edge_to_center;
    Vec2d shift_vec(shift_distance * std::cos(ego_theta),
                    shift_distance * std::sin(ego_theta));
    ego_box.Shift(shift_vec);
 
    std::vector<Box2d> obstacle_boxes;
    for (const auto obstacle : obstacles) {
      auto obtacle_point = obstacle->GetPointAtTime(relative_time);
      Box2d obstacle_box = obstacle->GetBoundingBox(obtacle_point);
      if (ego_box.HasOverlap(obstacle_box)) {
        return true;
      }
    }
  }
  return false;
}

---

该类的文档由以下文件生成:

• modules/planning/planners/lattice/behavior/collision_checker.h
• modules/planning/planners/lattice/behavior/collision_checker.cc