apollo::planning::DpRoadGraph类 参考

#include <dp_road_graph.h>

apollo::planning::DpRoadGraph 的协作图:

Public 成员函数
	DpRoadGraph (const DpPolyPathConfig &config, const ReferenceLineInfo &reference_line_info, const SpeedData &speed_data)
	~DpRoadGraph ()=default
bool	FindPathTunnel (const common::TrajectoryPoint &init_point, const std::vector< const Obstacle * > &obstacles, PathData *const path_data)

详细描述

在文件 dp_road_graph.h 第 41 行定义.

构造及析构函数说明

DpRoadGraph()

apollo::planning::DpRoadGraph::DpRoadGraph	(	const DpPolyPathConfig &	config,
		const ReferenceLineInfo &	reference_line_info,
		const SpeedData &	speed_data
	)

在文件 dp_road_graph.cc 第 41 行定义.

    : config_(config),
      reference_line_info_(reference_line_info),
      reference_line_(reference_line_info.reference_line()),
      speed_data_(speed_data) {}

~DpRoadGraph()

apollo::planning::DpRoadGraph::~DpRoadGraph ( )

default

成员函数说明

FindPathTunnel()

bool apollo::planning::DpRoadGraph::FindPathTunnel	(	const common::TrajectoryPoint &	init_point,
		const std::vector< const Obstacle * > &	obstacles,
		PathData *const	path_data
	)

在文件 dp_road_graph.cc 第 49 行定义.

                                                            {
  CHECK_NOTNULL(path_data);
 
  init_point_ = init_point;
  if (!reference_line_.XYToSL(init_point_.path_point(), &init_sl_point_)) {
    AERROR << "Fail to create init_sl_point from : "
           << init_point.DebugString();
    return false;
  }
  init_frenet_frame_point_ =
      reference_line_.GetFrenetPoint(init_point_.path_point());
 
  waypoint_sampler_->Init(&reference_line_info_, init_sl_point_,
                          init_frenet_frame_point_);
  waypoint_sampler_->SetDebugLogger(planning_debug_);
 
  std::vector<DpRoadGraphNode> min_cost_path;
  if (!GenerateMinCostPath(obstacles, &min_cost_path)) {
    AERROR << "Fail to generate graph!";
    return false;
  }
  std::vector<common::FrenetFramePoint> frenet_path;
  double accumulated_s = min_cost_path.front().sl_point.s();
  const double path_resolution = config_.path_resolution();
 
  for (size_t i = 1; i < min_cost_path.size(); ++i) {
    const auto &prev_node = min_cost_path[i - 1];
    const auto &cur_node = min_cost_path[i];
 
    const double path_length = cur_node.sl_point.s() - prev_node.sl_point.s();
    double current_s = 0.0;
    const auto &curve = cur_node.min_cost_curve;
    while (current_s + path_resolution / 2.0 < path_length) {
      const double l = curve.Evaluate(0, current_s);
      const double dl = curve.Evaluate(1, current_s);
      const double ddl = curve.Evaluate(2, current_s);
      common::FrenetFramePoint frenet_frame_point;
      frenet_frame_point.set_s(accumulated_s + current_s);
      frenet_frame_point.set_l(l);
      frenet_frame_point.set_dl(dl);
      frenet_frame_point.set_ddl(ddl);
      frenet_path.push_back(std::move(frenet_frame_point));
      current_s += path_resolution;
    }
    if (i == min_cost_path.size() - 1) {
      accumulated_s += current_s;
    } else {
      accumulated_s += path_length;
    }
  }
  path_data->SetReferenceLine(&reference_line_);
  path_data->SetFrenetPath(FrenetFramePath(std::move(frenet_path)));
  return true;
}

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该类的文档由以下文件生成:

• modules/planning/planning_interface_base/task_base/optimizers/road_graph/dp_road_graph.h
• modules/planning/planning_interface_base/task_base/optimizers/road_graph/dp_road_graph.cc