apollo::planning::HistoryFrame类 参考

#include <history.h>

apollo::planning::HistoryFrame 的协作图:

Public 成员函数
	HistoryFrame ()=default
void	Init (const ADCTrajectory &adc_trajactory)
int	seq_num () const
std::vector< const HistoryObjectDecision * >	GetObjectDecisions () const
std::vector< const HistoryObjectDecision * >	GetStopObjectDecisions () const
const HistoryObjectDecision *	GetObjectDecisionsById (const std::string &id) const

详细描述

在文件 history.h 第 51 行定义.

构造及析构函数说明

HistoryFrame()

apollo::planning::HistoryFrame::HistoryFrame ( )

default

成员函数说明

GetObjectDecisions()

std::vector< const HistoryObjectDecision * > apollo::planning::HistoryFrame::GetObjectDecisions

(

)

const

在文件 history.cc 第 80 行定义.

          {
  std::vector<const HistoryObjectDecision*> result;
  for (size_t i = 0; i < object_decisions_.size(); i++) {
    result.push_back(&(object_decisions_[i]));
  }
 
  return result;
}

GetObjectDecisionsById()

const HistoryObjectDecision * apollo::planning::HistoryFrame::GetObjectDecisionsById

(

const std::string &

id

)

const

在文件 history.cc 第 117 行定义.

                               {
  if (object_decisions_map_.find(id) == object_decisions_map_.end()) {
    return nullptr;
  }
  return &(object_decisions_map_.at(id));
}

GetStopObjectDecisions()

std::vector< const HistoryObjectDecision * > apollo::planning::HistoryFrame::GetStopObjectDecisions

(

)

const

在文件 history.cc 第 90 行定义.

          {
  std::vector<const HistoryObjectDecision*> result;
  for (size_t i = 0; i < object_decisions_.size(); i++) {
    auto obj_decision = object_decisions_[i].GetObjectDecision();
    for (const ObjectDecisionType* decision_type : obj_decision) {
      if (decision_type->has_stop()) {
        std::vector<ObjectDecisionType> object_decision;
        object_decision.push_back(*decision_type);
 
        HistoryObjectDecision* decision = new HistoryObjectDecision();
        decision->Init(object_decisions_[i].id(), object_decision);
        result.push_back(decision);
      }
    }
  }
 
  // sort
  std::sort(
      result.begin(), result.end(),
      [](const HistoryObjectDecision* lhs, const HistoryObjectDecision* rhs) {
        return lhs->id() < rhs->id();
      });
 
  return result;
}

Init()

void apollo::planning::HistoryFrame::Init

(

const ADCTrajectory &

adc_trajactory

)

在文件 history.cc 第 65 行定义.

                                                           {
  adc_trajactory_.CopyFrom(adc_trajactory);
 
  seq_num_ = adc_trajactory.header().sequence_num();
  const auto& object_decisions = adc_trajactory.decision().object_decision();
  for (int i = 0; i < object_decisions.decision_size(); i++) {
    const std::string id = object_decisions.decision(i).id();
    HistoryObjectDecision object_decision;
    object_decision.Init(object_decisions.decision(i));
    object_decisions_map_[id] = object_decision;
 
    object_decisions_.push_back(object_decision);
  }
}

seq_num()

int apollo::planning::HistoryFrame::seq_num ( ) const

inline

在文件 history.h 第 57 行定义.

{ return seq_num_; }

---

该类的文档由以下文件生成:

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