Apollo 10.0
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apollo::planning::EmergencyStopScenario类 参考

#include <emergency_stop_scenario.h>

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

Public 成员函数

bool Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override
 
EmergencyStopContextGetContext () 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.
 
ScenarioResult Process (const common::TrajectoryPoint &planning_init_point, Frame *frame) override
 
bool Exit (Frame *frame)
 
- Public 成员函数 继承自 apollo::planning::Scenario
 Scenario ()
 
virtual ~Scenario ()=default
 
virtual bool Enter (Frame *frame)
 
std::shared_ptr< StageCreateStage (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 ScenarioStatusTypeGetStatus () 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< Stagecurrent_stage_
 
std::unordered_map< std::string, const StagePipeline * > stage_pipeline_map_
 
std::string msg_
 
std::shared_ptr< DependencyInjectorinjector_
 
std::string config_path_
 
std::string config_dir_
 
std::string name_
 
ScenarioPipeline scenario_pipeline_config_
 

详细描述

在文件 emergency_stop_scenario.h41 行定义.

成员函数说明

◆ Exit()

bool apollo::planning::EmergencyStopScenario::Exit ( Frame frame)
virtual

重载 apollo::planning::Scenario .

在文件 emergency_stop_scenario.cc72 行定义.

72 {
73 auto* emergency_stop = injector_->planning_context()
74 ->mutable_planning_status()
75 ->mutable_emergency_stop();
76 emergency_stop->Clear();
77 return true;
78}
std::shared_ptr< DependencyInjector > injector_
Definition scenario.h:113

◆ GetContext()

EmergencyStopContext * apollo::planning::EmergencyStopScenario::GetContext ( )
inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 emergency_stop_scenario.h49 行定义.

49{ return &context_; }

◆ Init()

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

重载 apollo::planning::Scenario .

在文件 emergency_stop_scenario.cc30 行定义.

31 {
32 if (init_) {
33 return true;
34 }
35
36 if (!Scenario::Init(injector, name)) {
37 AERROR << "failed to init scenario" << Name();
38 return false;
39 }
40
41 if (!Scenario::LoadConfig<apollo::planning::ScenarioEmergencyStopConfig>(
42 &context_.scenario_config)) {
43 AERROR << "fail to get config of scenario" << Name();
44 return false;
45 }
46
47 init_ = true;
48 return true;
49}
virtual bool Init(std::shared_ptr< DependencyInjector > injector, const std::string &name)
Definition scenario.cc:43
const std::string & Name() const
Definition scenario.h:98
#define AERROR
Definition log.h:44

◆ IsTransferable()

bool apollo::planning::EmergencyStopScenario::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_stop_scenario.cc51 行定义.

52 {
53 const auto& pad_msg_driving_action = frame.GetPadMsgDrivingAction();
54 if (pad_msg_driving_action == PadMessage::STOP) {
55 return true;
56 }
57 return false;
58}

◆ Process()

ScenarioResult apollo::planning::EmergencyStopScenario::Process ( const common::TrajectoryPoint planning_init_point,
Frame frame 
)
overridevirtual

重载 apollo::planning::Scenario .

在文件 emergency_stop_scenario.cc60 行定义.

61 {
62 ScenarioResult stage_result;
63 if (frame->reference_line_info().empty()) {
64 stage_result.SetStageResult(StageStatusType::ERROR,
65 "Reference line is empty!");
66 AERROR << "Reference line is empty in EmergencyStopScenario!";
67 return stage_result;
68 }
69 return Scenario::Process(planning_init_point, frame);
70}
virtual ScenarioResult Process(const common::TrajectoryPoint &planning_init_point, Frame *frame)
Definition scenario.cc:86

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