apollo::planning::ConfigUtil类 参考

#include <config_util.h>

apollo::planning::ConfigUtil 的协作图:

静态 Public 成员函数
static std::string	TransformToPathName (const std::string &name)
	Tranform the name to part of path.
static std::string	GetFullPlanningClassName (const std::string &class_name)
	Given the class name of planning module, combine the namespace "apollo::planning::" with it to create an instance of the class.
template<typename T >
static bool	LoadMergedConfig (const std::string &default_config_path, const std::string &config_path, T *config)
	Load the config and merge the default and user defined config.
template<typename T >
static bool	LoadOverridedConfig (const std::string &default_config_path, const std::string &config_path, T *config)
	Load the config and override the default config by the user defined one.

详细描述

在文件 config_util.h 第 27 行定义.

成员函数说明

GetFullPlanningClassName()

std::string apollo::planning::ConfigUtil::GetFullPlanningClassName ( const std::string &  class_name )

static

Given the class name of planning module, combine the namespace "apollo::planning::" with it to create an instance of the class.

参数

class_name

The class name without namespace.

返回

The planning class name with namespace.

在文件 config_util.cc 第 32 行定义.

                                 {
  static const std::string kNameSpace = "apollo::planning::";
  // If the class name already has namespace in it, do nothing.
  if (class_name.find("::") != std::string::npos) {
    return class_name;
  }
  return kNameSpace + class_name;
}

LoadMergedConfig()

template<typename T >

bool apollo::planning::ConfigUtil::LoadMergedConfig ( const std::string &  default_config_path, const std::string &  config_path, T *  config  )

static

Load the config and merge the default and user defined config.

参数

default_config_path	The default config path, if the parameter is not defined in config_path, use that in this file as default.
config_path	The config path
config	The output config data.

返回

Load result, return true for success.

在文件 config_util.h 第 76 行定义.

                                                                           {
  CHECK_NOTNULL(config);
  // Get the default config, will be merged by the user defined
  // "spcific_config".
  if (!apollo::cyber::common::LoadConfig<T>(default_config_path, config)) {
    AERROR << "Failed to load default config file:" << default_config_path;
  }
  // Get the user defined "spcific_config".
  T spcific_config;
  if (!apollo::cyber::common::LoadConfig<T>(config_path, &spcific_config)) {
    AWARN << "can not load user defined config file[" << config_path
          << "], use default config instead";
    return true;
  }
  config->MergeFrom(spcific_config);
  return true;
}

LoadOverridedConfig()

template<typename T >

bool apollo::planning::ConfigUtil::LoadOverridedConfig ( const std::string &  default_config_path, const std::string &  config_path, T *  config  )

static

Load the config and override the default config by the user defined one.

If the user defined config doesn't exit, use the default.

参数

default_config_path	The default config path, if the parameter is not defined in config_path, use that in this file as default.
config_path	The config path
config	The output config data.

返回

Load result, return true for success.

在文件 config_util.h 第 96 行定义.

                                                {
  CHECK_NOTNULL(config);
  // Get the user defined "spcific_config".
  if (apollo::cyber::common::GetProtoFromFile(config_path, config)) {
    return true;
  }
  // Get the default config.
  if (!apollo::cyber::common::GetProtoFromFile(default_config_path, config)) {
    AERROR << "Failed to load config file using the default config:"
           << default_config_path;
    return false;
  }
  return true;
}

TransformToPathName()

std::string apollo::planning::ConfigUtil::TransformToPathName ( const std::string &  name )

static

Tranform the name to part of path.

The path must be all in lower cases.

参数

name	The name to be transformed.

返回

The transformed name in lower cases.

在文件 config_util.cc 第 26 行定义.

                                                               {
  std::string output = name;
  std::transform(name.begin(), name.end(), output.begin(), ::tolower);
  return output;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/common/util/config_util.h
• modules/planning/planning_base/common/util/config_util.cc