Apollo 10.0
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apollo::planning::LaneFollowScenario类 参考

#include <lane_follow_scenario.h>

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

Public 成员函数

ScenarioContextGetContext () override
 Get the scenario context.
 
bool IsTransferable (const Scenario *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 bool Init (std::shared_ptr< DependencyInjector > injector, const std::string &name)
 
virtual ScenarioResult Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)
 
virtual bool Exit (Frame *frame)
 
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 lane_follow_scenario.h40 行定义.

成员函数说明

◆ GetContext()

ScenarioContext * apollo::planning::LaneFollowScenario::GetContext ( )
inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 lane_follow_scenario.h45 行定义.

45{ return nullptr; }

◆ IsTransferable()

bool apollo::planning::LaneFollowScenario::IsTransferable ( const Scenario 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 lane_follow_scenario.cc29 行定义.

30 {
31 if (!frame.local_view().planning_command->has_lane_follow_command()) {
32 return false;
33 }
34 if (frame.reference_line_info().empty()) {
35 return false;
36 }
37 if (other_scenario == nullptr) {
38 return true;
39 }
40 return true;
41}

该类的文档由以下文件生成: