apollo::planning::EgoInfo类 参考

#include <ego_info.h>

apollo::planning::EgoInfo 的协作图:

Public 成员函数
	EgoInfo ()
	~EgoInfo ()=default
bool	Update (const common::TrajectoryPoint &start_point, const common::VehicleState &vehicle_state)
void	Clear ()
common::TrajectoryPoint	start_point () const
common::VehicleState	vehicle_state () const
double	front_clear_distance () const
common::math::Box2d	ego_box () const
void	CalculateFrontObstacleClearDistance (const std::vector< const Obstacle * > &obstacles)
void	CalculateCurrentRouteInfo (const ReferenceLineProvider *reference_line_provider)
double	distance_to_destination () const
apollo::hdmap::LaneWaypoint	adc_waypoint () const

详细描述

在文件 ego_info.h 第 40 行定义.

构造及析构函数说明

EgoInfo()

apollo::planning::EgoInfo::EgoInfo

(

)

在文件 ego_info.cc 第 32 行定义.

                 {
  ego_vehicle_config_ = common::VehicleConfigHelper::GetConfig();
}

~EgoInfo()

apollo::planning::EgoInfo::~EgoInfo ( )

default

成员函数说明

adc_waypoint()

apollo::hdmap::LaneWaypoint apollo::planning::EgoInfo::adc_waypoint ( ) const

inline

在文件 ego_info.h 第 67 行定义.

{ return adc_waypoint_; }

CalculateCurrentRouteInfo()

void apollo::planning::EgoInfo::CalculateCurrentRouteInfo

(

const ReferenceLineProvider *

reference_line_provider

)

在文件 ego_info.cc 第 107 行定义.

                                                          {
  reference_line_provider->GetAdcWaypoint(&adc_waypoint_);
  reference_line_provider->GetAdcDis2Destination(&distance_to_destination_);
  AINFO << adc_waypoint_.DebugString();
  AINFO << "distance_to_destination: " << distance_to_destination_;
}

CalculateFrontObstacleClearDistance()

void apollo::planning::EgoInfo::CalculateFrontObstacleClearDistance

(

const std::vector< const Obstacle * > &

obstacles

)

在文件 ego_info.cc 第 69 行定义.

                                                 {
  Vec2d position(vehicle_state_.x(), vehicle_state_.y());
 
  const auto& param = ego_vehicle_config_.vehicle_param();
  Vec2d vec_to_center(
      (param.front_edge_to_center() - param.back_edge_to_center()) / 2.0,
      (param.left_edge_to_center() - param.right_edge_to_center()) / 2.0);
 
  Vec2d center(position + vec_to_center.rotate(vehicle_state_.heading()));
 
  Vec2d unit_vec_heading = Vec2d::CreateUnitVec2d(vehicle_state_.heading());
 
  // Due to the error of ego heading, only short range distance is meaningful
  static constexpr double kDistanceThreshold = 50.0;
  static constexpr double buffer = 0.1;  // in meters
  const double impact_region_length =
      param.length() + buffer + kDistanceThreshold;
  Box2d ego_front_region(center + unit_vec_heading * kDistanceThreshold / 2.0,
                         vehicle_state_.heading(), impact_region_length,
                         param.width() + buffer);
 
  for (const auto& obstacle : obstacles) {
    if (obstacle->IsVirtual() ||
        !ego_front_region.HasOverlap(obstacle->PerceptionBoundingBox())) {
      continue;
    }
 
    double dist = ego_box_.center().DistanceTo(
                      obstacle->PerceptionBoundingBox().center()) -
                  ego_box_.diagonal() / 2.0;
 
    if (front_clear_distance_ < 0.0 || dist < front_clear_distance_) {
      front_clear_distance_ = dist;
    }
  }
}

Clear()

void apollo::planning::EgoInfo::Clear

(

)

在文件 ego_info.cc 第 59 行定义.

                    {
  start_point_.Clear();
  vehicle_state_.Clear();
  front_clear_distance_ = FLAGS_default_front_clear_distance;
}

distance_to_destination()

double apollo::planning::EgoInfo::distance_to_destination ( ) const

inline

在文件 ego_info.h 第 65 行定义.

{ return distance_to_destination_; }

ego_box()

common::math::Box2d apollo::planning::EgoInfo::ego_box ( ) const

inline

在文件 ego_info.h 第 57 行定义.

{ return ego_box_; }

front_clear_distance()

double apollo::planning::EgoInfo::front_clear_distance ( ) const

inline

在文件 ego_info.h 第 55 行定义.

{ return front_clear_distance_; }

start_point()

common::TrajectoryPoint apollo::planning::EgoInfo::start_point ( ) const

inline

在文件 ego_info.h 第 51 行定义.

{ return start_point_; }

Update()

bool apollo::planning::EgoInfo::Update	(	const common::TrajectoryPoint &	start_point,
		const common::VehicleState &	vehicle_state
	)

在文件 ego_info.cc 第 36 行定义.

                                                              {
  set_start_point(start_point);
  set_vehicle_state(vehicle_state);
  CalculateEgoBox(vehicle_state);
  return true;
}

vehicle_state()

common::VehicleState apollo::planning::EgoInfo::vehicle_state ( ) const

inline

在文件 ego_info.h 第 53 行定义.

{ return vehicle_state_; }

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该类的文档由以下文件生成:

• modules/planning/planning_base/common/ego_info.h
• modules/planning/planning_base/common/ego_info.cc