This class creates a virtual obstacle for each clear area region. 更多...

#include <keep_clear.h>

类 apollo::planning::KeepClear 继承关系图:

apollo::planning::KeepClear 的协作图:

Public 成员函数
bool	Init (const std::string &name, const std::shared_ptr< DependencyInjector > &injector) override

virtual	~KeepClear ()=default

common::Status	ApplyRule (Frame const frame, ReferenceLineInfo const reference_line_info)

void	Reset () override

Public 成员函数继承自 apollo::planning::TrafficRule
	TrafficRule ()

virtual	~TrafficRule ()=default

std::string	Getname ()

额外继承的成员函数
Protected 成员函数继承自 apollo::planning::TrafficRule
template<typename T >
bool	LoadConfig (T *config)

Protected 属性继承自 apollo::planning::TrafficRule
std::shared_ptr< DependencyInjector >	injector_

std::string	config_path_

std::string	name_

详细描述

This class creates a virtual obstacle for each clear area region.

在文件 keep_clear.h 第 35 行定义.

构造及析构函数说明

◆ ~KeepClear()

virtual apollo::planning::KeepClear::~KeepClear ( )

virtualdefault

成员函数说明

◆ ApplyRule()

Status apollo::planning::KeepClear::ApplyRule	(	Frame *const	frame,
		ReferenceLineInfo *const	reference_line_info
	)

virtual

实现了 apollo::planning::TrafficRule.

在文件 keep_clear.cc 第 47 行定义.

                                                                          {
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(reference_line_info);
 
  // keep_clear zone
  if (config_.enable_keep_clear_zone()) {
    const std::vector<PathOverlap>& keep_clear_overlaps =
        reference_line_info->reference_line().map_path().clear_area_overlaps();
    for (const auto& keep_clear_overlap : keep_clear_overlaps) {
      const auto obstacle_id =
          KEEP_CLEAR_VO_ID_PREFIX + keep_clear_overlap.object_id;
 
      if (BuildKeepClearObstacle(frame, reference_line_info, obstacle_id,
                                 keep_clear_overlap.start_s,
                                 keep_clear_overlap.end_s)) {
        ADEBUG << "KEEP_CLAER for keep_clear_zone["
               << keep_clear_overlap.object_id << "] s["
               << keep_clear_overlap.start_s << ", " << keep_clear_overlap.end_s
               << "] BUILD";
      }
    }
  }
 
  // junction
  if (config_.enable_junction()) {
    hdmap::PathOverlap* crosswalk_overlap = nullptr;
    hdmap::PathOverlap* stop_sign_overlap = nullptr;
    hdmap::PathOverlap* traffic_light_overlap = nullptr;
    hdmap::PathOverlap* pnc_junction_overlap = nullptr;
 
    const auto& first_encountered_overlaps =
        reference_line_info->FirstEncounteredOverlaps();
    for (const auto& overlap : first_encountered_overlaps) {
      ADEBUG << overlap.first << ", " << overlap.second.DebugString();
      switch (overlap.first) {
        case ReferenceLineInfo::CROSSWALK:
          ADEBUG << "CROSSWALK[" << overlap.second.object_id << "] s["
                 << overlap.second.start_s << ", " << overlap.second.end_s
                 << "]";
          crosswalk_overlap = const_cast<PathOverlap*>(&overlap.second);
          break;
        case ReferenceLineInfo::STOP_SIGN:
          ADEBUG << "STOP_SIGN[" << overlap.second.object_id << "] s["
                 << overlap.second.start_s << ", " << overlap.second.end_s
                 << "]";
          stop_sign_overlap = const_cast<PathOverlap*>(&overlap.second);
          break;
        case ReferenceLineInfo::SIGNAL:
          ADEBUG << "SIGNAL[" << overlap.second.object_id << "] s["
                 << overlap.second.start_s << ", " << overlap.second.end_s
                 << "]";
          traffic_light_overlap = const_cast<PathOverlap*>(&overlap.second);
          break;
        case ReferenceLineInfo::PNC_JUNCTION:
          ADEBUG << "PNC_JUNCTION[" << overlap.second.object_id << "] s["
                 << overlap.second.start_s << ", " << overlap.second.end_s
                 << "]";
          pnc_junction_overlap = const_cast<PathOverlap*>(&overlap.second);
          break;
        default:
          break;
      }
    }
 
    if (pnc_junction_overlap != nullptr) {
      const double adc_front_edge_s =
          reference_line_info->AdcSlBoundary().end_s();
      if (!IsCreeping(pnc_junction_overlap->start_s, adc_front_edge_s)) {
        // adjust pnc_junction start_s to align with
        // the start_s of other "stop type" overlaps
        double pnc_junction_start_s = pnc_junction_overlap->start_s;
        // traffic_light, stop_sign, and then crosswalk if neither
        if (traffic_light_overlap != nullptr &&
            std::fabs(pnc_junction_start_s - traffic_light_overlap->start_s) <=
                config_.align_with_traffic_sign_tolerance()) {
          ADEBUG << "adjust pnc_junction_start_s[" << pnc_junction_start_s
                 << "] to traffic_light_start_s"
                 << traffic_light_overlap->start_s << "]";
          pnc_junction_start_s = traffic_light_overlap->start_s;
        } else if (stop_sign_overlap != nullptr &&
                   std::fabs(pnc_junction_start_s -
                             stop_sign_overlap->start_s) <=
                       config_.align_with_traffic_sign_tolerance()) {
          ADEBUG << "adjust pnc_junction_start_s[" << pnc_junction_start_s
                 << "] to stop_sign_start_s" << stop_sign_overlap->start_s
                 << "]";
          pnc_junction_start_s = stop_sign_overlap->start_s;
        } else if (crosswalk_overlap != nullptr &&
                   std::fabs(pnc_junction_start_s -
                             crosswalk_overlap->start_s) <=
                       config_.align_with_traffic_sign_tolerance()) {
          ADEBUG << "adjust pnc_junction_start_s[" << pnc_junction_start_s
                 << "] to cross_walk_start_s" << crosswalk_overlap->start_s
                 << "]";
          pnc_junction_start_s = crosswalk_overlap->start_s;
        }
 
        const auto obstacle_id =
            KEEP_CLEAR_JUNCTION_VO_ID_PREFIX + pnc_junction_overlap->object_id;
 
        if (BuildKeepClearObstacle(frame, reference_line_info, obstacle_id,
                                   pnc_junction_start_s,
                                   pnc_junction_overlap->end_s)) {
          ADEBUG << "KEEP_CLAER for junction["
                 << pnc_junction_overlap->object_id << "] s["
                 << pnc_junction_start_s << ", " << pnc_junction_overlap->end_s
                 << "] BUILD";
        }
      }
    }
  }
 
  return Status::OK();
}

◆ Init()

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

overridevirtual

重载 apollo::planning::TrafficRule .

在文件 keep_clear.cc 第 38 行定义.

                                                                        {
  if (!TrafficRule::Init(name, injector)) {
    return false;
  }
  // Load the config this task.
  return TrafficRule::LoadConfig<KeepClearConfig>(&config_);
}

◆ Reset()

void apollo::planning::KeepClear::Reset ( )

inlineoverridevirtual

实现了 apollo::planning::TrafficRule.

在文件 keep_clear.h 第 43 行定义.

43{}

该类的文档由以下文件生成:

modules/planning/traffic_rules/keepclear/keep_clear.h
modules/planning/traffic_rules/keepclear/keep_clear.cc

Public 成员函数