apollo::planning::FreeSpaceScenario类 参考

#include <free_space_scenario.h>

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

apollo::planning::FreeSpaceScenario 的协作图:

Public 成员函数
bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override
FreeSpaceContext *	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.
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)
virtual bool	Exit (Frame *frame)
virtual bool	Enter (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 free_space_scenario.h 第 42 行定义.

成员函数说明

GetContext()

FreeSpaceContext * apollo::planning::FreeSpaceScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 free_space_scenario.h 第 49 行定义.

                                            {
        return &context_;
    }

Init()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 free_space_scenario.cc 第 36 行定义.

                                                                                              {
    // hook: Apollo License Verification: v_apollo_park
    if (init_) {
        return true;
    }
 
    if (!Scenario::Init(injector, name)) {
        AERROR << "failed to init scenario" << Name();
        return false;
    }
 
    if (!Scenario::LoadConfig<ScenarioFreeSpaceConfig>(&context_.scenario_config)) {
        AERROR << "fail to get config of scenario" << Name();
        return false;
    }
    hdmap_ = hdmap::HDMapUtil::BaseMapPtr();
    CHECK_NOTNULL(hdmap_);
    init_ = true;
    return true;
}

IsTransferable()

bool apollo::planning::FreeSpaceScenario::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 free_space_scenario.cc 第 57 行定义.

                                                                                               {
    const auto& planning_command = frame.local_view().planning_command;
    if (!planning_command->has_custom_command()) {
        return false;
    }
    if (!planning_command->custom_command().Is<FreeSpaceCommand>()) {
        return false;
    }
    context_.free_space_command.Clear();
    if (!planning_command->custom_command().UnpackTo(&context_.free_space_command)) {
        AERROR << "Free Space Command unpack error" << planning_command->DebugString();
        return false;
    }
    const auto& vehicle_state = frame.vehicle_state();
    const auto& vehicle_param = common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param();
    double adc_speed = vehicle_state.linear_velocity();
    const double max_adc_stop_speed = vehicle_param.max_abs_speed_when_stopped();
    if (std::fabs(adc_speed) > max_adc_stop_speed) {
        AINFO << "adc not stopped" << adc_speed;
        return false;
    }
    apollo::common::math::Polygon2d ego_box(injector_->ego_info()->ego_box());
    Vec2d vec_to_center(
            (vehicle_param.front_edge_to_center() - vehicle_param.back_edge_to_center()) / 2.0,
            (vehicle_param.left_edge_to_center() - vehicle_param.right_edge_to_center()) / 2.0);
    const auto& end_pose = context_.free_space_command.parking_spot_pose();
    Vec2d position(end_pose.x(), end_pose.y());
    Vec2d center(position + vec_to_center.rotate(end_pose.heading()));
    Polygon2d end_box(Box2d(center, end_pose.heading(), vehicle_param.length(), vehicle_param.width()));
    PrintCurves print_curves;
    print_curves.AddPoint("ego_box", ego_box.points());
    print_curves.AddPoint("end_box", end_box.points());
    if (!context_.free_space_command.has_drivable_roi()) {
        AERROR << "drivable_roi is needed!";
        return false;
    }
    const auto& roi_polygon = context_.free_space_command.drivable_roi();
    std::vector<Vec2d> polygon_points;
    for (const auto& point : roi_polygon.point()) {
        polygon_points.emplace_back(point.x(), point.y());
    }
    print_curves.AddPoint("free_space_roi", polygon_points);
    Polygon2d polygon_roi(polygon_points);
    if (OpenSpaceRoiUtil::IsPolygonClockwise(polygon_points)) {
        AERROR << "drivable_roi should be counter-clockwise!";
        print_curves.PrintToLog();
        return false;
    }
    if (!polygon_roi.Contains(ego_box) || !polygon_roi.Contains(end_box)) {
        AERROR << "ego box or end box is out of roi";
        print_curves.PrintToLog();
        return false;
    }
    for (const auto& roi_polygon : context_.free_space_command.non_drivable_roi()) {
        std::vector<Vec2d> polygon_points;
        for (const auto& point : roi_polygon.point()) {
            polygon_points.emplace_back(point.x(), point.y());
        }
        print_curves.AddPoint("free_space_roi", polygon_points);
        Polygon2d polygon_roi(polygon_points);
        if (!OpenSpaceRoiUtil::IsPolygonClockwise(polygon_points)) {
            AERROR << "non_drivable_roi should be clockwise!";
            print_curves.PrintToLog();
            return false;
        }
        if (polygon_roi.HasOverlap(ego_box) || polygon_roi.HasOverlap(end_box)) {
            AERROR << "ego box or end box has collision with obs";
            print_curves.PrintToLog();
            return false;
        }
    }
    print_curves.PrintToLog();
    return true;
}  // namespace planning

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该类的文档由以下文件生成:

• modules/planning/scenarios/free_space/free_space_scenario.h
• modules/planning/scenarios/free_space/free_space_scenario.cc