apollo::planning::EmergencyPullOverScenario类 参考

#include <emergency_pull_over_scenario.h>

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

apollo::planning::EmergencyPullOverScenario 的协作图:

Public 成员函数
bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override
EmergencyPullOverContext *	GetContext () override
	Get the scenario context.
bool	IsTransferable (const Scenario *const other_scenario, const Frame &frame) override
	Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.
bool	Exit (Frame *frame) override
bool	Enter (Frame *frame) override
Public 成员函数 继承自 apollo::planning::Scenario
	Scenario ()
virtual	~Scenario ()=default
virtual ScenarioResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)
std::shared_ptr< Stage >	CreateStage (const StagePipeline &stage_pipeline)
	Each scenario should define its own stages object's creation scenario will call stage's Stage::Process function following a configured order, The return value of Stage::Process function determines the transition from one stage to another.
const ScenarioStatusType &	GetStatus () const
const std::string	GetStage () const
const std::string &	GetMsg () const
const std::string &	Name () const
void	Reset ()
	Reset the scenario, used before entering the scenario.

额外继承的成员函数
Protected 成员函数 继承自 apollo::planning::Scenario
template<typename T >
bool	LoadConfig (T *config)
Protected 属性 继承自 apollo::planning::Scenario
ScenarioResult	scenario_result_
std::shared_ptr< Stage >	current_stage_
std::unordered_map< std::string, const StagePipeline * >	stage_pipeline_map_
std::string	msg_
std::shared_ptr< DependencyInjector >	injector_
std::string	config_path_
std::string	config_dir_
std::string	name_
ScenarioPipeline	scenario_pipeline_config_

详细描述

在文件 emergency_pull_over_scenario.h 第 41 行定义.

成员函数说明

Enter()

bool apollo::planning::EmergencyPullOverScenario::Enter ( Frame *  frame )

overridevirtual

重载 apollo::planning::Scenario .

在文件 emergency_pull_over_scenario.cc 第 71 行定义.

                                                  {
  auto* pull_over = injector_->planning_context()
                        ->mutable_planning_status()
                        ->mutable_pull_over();
  pull_over->set_pull_over_type(PullOverStatus::EMERGENCY_PULL_OVER);
  return true;
}

Exit()

bool apollo::planning::EmergencyPullOverScenario::Exit ( Frame *  frame )

overridevirtual

重载 apollo::planning::Scenario .

在文件 emergency_pull_over_scenario.cc 第 66 行定义.

                                                 {
  injector_->planning_context()->mutable_planning_status()->clear_pull_over();
  return true;
}

GetContext()

EmergencyPullOverContext * apollo::planning::EmergencyPullOverScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 emergency_pull_over_scenario.h 第 49 行定义.

{ return &context_; }

Init()

bool apollo::planning::EmergencyPullOverScenario::Init ( std::shared_ptr< DependencyInjector >  injector, const std::string &  name  )

overridevirtual

重载 apollo::planning::Scenario .

在文件 emergency_pull_over_scenario.cc 第 33 行定义.

                                                                       {
  if (init_) {
    return true;
  }
 
  if (!Scenario::Init(injector, name)) {
    AERROR << "failed to init scenario" << Name();
    return false;
  }
 
  if (!Scenario::LoadConfig<ScenarioEmergencyPullOverConfig>(
          &context_.scenario_config)) {
    AERROR << "fail to get config of scenario" << Name();
    return false;
  }
 
  init_ = true;
  return true;
}

IsTransferable()

bool apollo::planning::EmergencyPullOverScenario::IsTransferable ( const Scenario *const  other_scenario, const Frame &  frame  )

overridevirtual

Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

重载 apollo::planning::Scenario .

在文件 emergency_pull_over_scenario.cc 第 54 行定义.

                                                              {
  if (frame.reference_line_info().empty()) {
    return false;
  }
  const auto& pad_msg_driving_action = frame.GetPadMsgDrivingAction();
  if (pad_msg_driving_action == PadMessage::PULL_OVER) {
    return true;
  }
  return false;
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/emergency_pull_over/emergency_pull_over_scenario.h
• modules/planning/scenarios/emergency_pull_over/emergency_pull_over_scenario.cc