Apollo 10.0
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apollo::planning::EmergencyPullOverStageSlowDown类 参考

#include <stage_slow_down.h>

类 apollo::planning::EmergencyPullOverStageSlowDown 继承关系图:
apollo::planning::EmergencyPullOverStageSlowDown 的协作图:

Public 成员函数

StageResult Process (const common::TrajectoryPoint &planning_init_point, Frame *frame) override
 Each stage does its business logic inside Process function.
 
- Public 成员函数 继承自 apollo::planning::Stage
 Stage ()
 
virtual bool Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)
 
virtual ~Stage ()=default
 
const std::string & Name () const
 
template<typename T >
T * GetContextAs () const
 
const std::string & NextStage () const
 

额外继承的成员函数

- Protected 成员函数 继承自 apollo::planning::Stage
StageResult ExecuteTaskOnReferenceLine (const common::TrajectoryPoint &planning_start_point, Frame *frame)
 
StageResult ExecuteTaskOnReferenceLineForOnlineLearning (const common::TrajectoryPoint &planning_start_point, Frame *frame)
 
StageResult ExecuteTaskOnOpenSpace (Frame *frame)
 
virtual StageResult FinishScenario ()
 
void RecordDebugInfo (ReferenceLineInfo *reference_line_info, const std::string &name, const double time_diff_ms)
 
- Protected 属性 继承自 apollo::planning::Stage
std::vector< std::shared_ptr< Task > > task_list_
 
std::shared_ptr< Taskfallback_task_
 
std::string next_stage_
 
void * context_
 
std::shared_ptr< DependencyInjectorinjector_
 
StagePipeline pipeline_config_
 

详细描述

在文件 stage_slow_down.h35 行定义.

成员函数说明

◆ Process()

StageResult apollo::planning::EmergencyPullOverStageSlowDown::Process ( const common::TrajectoryPoint planning_init_point,
Frame frame 
)
overridevirtual

Each stage does its business logic inside Process function.

If the stage want to transit to a different stage after finish, it should set the type of 'next_stage_'.

实现了 apollo::planning::Stage.

在文件 stage_slow_down.cc36 行定义.

37 {
38 ADEBUG << "stage: SlowDown";
39 CHECK_NOTNULL(frame);
40
41 auto scenario_context = GetContextAs<EmergencyPullOverContext>();
42 scenario_config_.CopyFrom(scenario_context->scenario_config);
43
44 // set cruise_speed to slow down
45 const double adc_speed = injector_->vehicle_state()->linear_velocity();
46 double target_slow_down_speed = scenario_context->target_slow_down_speed;
47 if (target_slow_down_speed <= 0) {
48 target_slow_down_speed = scenario_context->target_slow_down_speed =
49 std::max(
50 scenario_config_.target_slow_down_speed(),
51 adc_speed - scenario_config_.max_stop_deceleration() *
52 scenario_config_.slow_down_deceleration_time());
53 }
54 auto& reference_line_info = frame->mutable_reference_line_info()->front();
55 reference_line_info.LimitCruiseSpeed(target_slow_down_speed);
56
57 StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
58 if (result.HasError()) {
59 AERROR << "EmergencyPullOverStageSlowDown planning error";
60 }
61
62 // check slow enough
63 static constexpr double kSpeedTolarence = 1.0;
64 if (adc_speed - target_slow_down_speed <= kSpeedTolarence) {
65 return FinishStage();
66 }
67
68 return result.SetStageStatus(StageStatusType::RUNNING);
69}
std::shared_ptr< DependencyInjector > injector_
Definition stage.h:91
StageResult ExecuteTaskOnReferenceLine(const common::TrajectoryPoint &planning_start_point, Frame *frame)
Definition stage.cc:101
#define ADEBUG
Definition log.h:41
#define AERROR
Definition log.h:44

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