#include <large_curvature_scenario.h>

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

apollo::planning::LargeCurvatureScenario 的协作图:

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

LargeCurvatureContext *	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 large_curvature_scenario.h 第 40 行定义.

成员函数说明

◆ GetContext()

LargeCurvatureContext * apollo::planning::LargeCurvatureScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 large_curvature_scenario.h 第 47 行定义.

                                                 {
        return &context_;
    }

◆ Init()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 large_curvature_scenario.cc 第 35 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<ScenarioLargeCurvatureConfig>(&context_.scenario_config)) {
        AERROR << "fail to get config of scenario" << Name();
        return false;
    }
    AINFO << context_.scenario_config.DebugString();
    hdmap_ = hdmap::HDMapUtil::BaseMapPtr();
    CHECK_NOTNULL(hdmap_);
    init_ = true;
    return true;
}

◆ IsTransferable()

bool apollo::planning::LargeCurvatureScenario::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 large_curvature_scenario.cc 第 57 行定义.

                                                                                                    {
    if (!frame.local_view().planning_command->has_lane_follow_command()) {
        AINFO << "No lane follow command from routing";
        return false;
    }
    if (other_scenario == nullptr || frame.reference_line_info().empty()) {
        AINFO << "Other scenario is null or no reference line";
        return false;
    }
 
    // check if ego in big curvature
    common::VehicleState vehicle_state = injector_->vehicle_state()->vehicle_state();
    common::SLPoint adc_sl;
    if (!frame.reference_line_info().front().reference_line().XYToSL({vehicle_state.x(), vehicle_state.y()}, &adc_sl)) {
        AINFO << "scenario LargeCurvature: failed to get nearest lane";
        return false;
    }
 
    double kappa
            = frame.reference_line_info().front().reference_line().GetNearestReferencePoint(adc_sl.s() + 3.0).kappa();
    AINFO << "kappa: " << kappa << " ego_x : " << vehicle_state.x() << " ego_y: " << vehicle_state.y()
          << " ref length: " << frame.reference_line_info().front().reference_line().Length() << " s: " << adc_sl.s();
    double vehicle_max_curvature = 1 / common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param().min_turn_radius();
    AINFO << vehicle_max_curvature * context_.scenario_config.curvature_ratio();
    if (fabs(kappa) > vehicle_max_curvature * context_.scenario_config.curvature_ratio()
        && frame.reference_line_info().front().SDistanceToDestination() > 10.0) {
        AINFO << "ego in large curvature";
        return true;
    }
    return false;
}  // namespace planning

该类的文档由以下文件生成:

modules/planning/scenarios/large_curvature/large_curvature_scenario.h
modules/planning/scenarios/large_curvature/large_curvature_scenario.cc

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ GetContext()

◆ Init()

◆ IsTransferable()