NaviPathDecider is used to generate the local driving path of the 更多...

#include <navi_path_decider.h>

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

apollo::planning::NaviPathDecider 的协作图:

Public 成员函数
	NaviPathDecider ()

virtual	~NaviPathDecider ()=default

bool	Init (const PlannerNaviConfig &config) override

apollo::common::Status	Execute (Frame frame, ReferenceLineInfo reference_line_info) override
	Overrided implementation of the virtual function "Execute" in the base class "Task".

Public 成员函数继承自 apollo::planning::NaviTask
	NaviTask (const std::string &name)

virtual	~NaviTask ()=default

virtual const std::string &	Name () const

额外继承的成员函数
Protected 属性继承自 apollo::planning::NaviTask
bool	is_init_ = false

Frame *	frame_ = nullptr

ReferenceLineInfo *	reference_line_info_ = nullptr

详细描述

NaviPathDecider is used to generate the local driving path of the

vehicle in navigation mode. Note that NaviPathDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode.

在文件 navi_path_decider.h 第 55 行定义.

构造及析构函数说明

◆ NaviPathDecider()

apollo::planning::NaviPathDecider::NaviPathDecider ( )

在文件 navi_path_decider.cc 第 41 行定义.

                                 : NaviTask("NaviPathDecider") {
  // TODO(all): Add your other initialization.
}

◆ ~NaviPathDecider()

virtual apollo::planning::NaviPathDecider::~NaviPathDecider ( )

virtualdefault

成员函数说明

◆ Execute()

Status apollo::planning::NaviPathDecider::Execute	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)

overridevirtual

Overrided implementation of the virtual function "Execute" in the base class "Task".

参数

frame	Current planning frame.
reference_line_info	Currently available reference line information.

返回: Status::OK() if a suitable path is created; error otherwise.

重载 apollo::planning::NaviTask .

在文件 navi_path_decider.cc 第 79 行定义.

                                                                              {
  NaviTask::Execute(frame, reference_line_info);
  vehicle_state_ = frame->vehicle_state();
  cur_reference_line_lane_id_ = reference_line_info->Lanes().Id();
  auto ret = Process(reference_line_info->reference_line(),
                     frame->PlanningStartPoint(), frame->obstacles(),
                     reference_line_info->path_decision(),
                     reference_line_info->mutable_path_data());
  RecordDebugInfo(reference_line_info->path_data());
  if (ret != Status::OK()) {
    reference_line_info->SetDrivable(false);
    AERROR << "Reference Line " << reference_line_info->Lanes().Id()
           << " is not drivable after " << Name();
  }
  return ret;
}

◆ Init()

bool apollo::planning::NaviPathDecider::Init ( const PlannerNaviConfig & config )

overridevirtual

重载 apollo::planning::NaviTask .

在文件 navi_path_decider.cc 第 45 行定义.

                                                          {
  move_dest_lane_config_talbe_.clear();
  max_speed_levels_.clear();
  config_ = config.navi_path_decider_config();
  auto move_dest_lane_config_talbe = config_.move_dest_lane_config_talbe();
  for (const auto& item : move_dest_lane_config_talbe.lateral_shift()) {
    double max_speed_level = item.max_speed();
    double max_move_dest_lane_shift_y = item.max_move_dest_lane_shift_y();
    if (move_dest_lane_config_talbe_.find(max_speed_level) ==
        move_dest_lane_config_talbe_.end()) {
      move_dest_lane_config_talbe_.emplace(
          std::make_pair(max_speed_level, max_move_dest_lane_shift_y));
      max_speed_levels_.push_back(max_speed_level);
    }
  }
  AINFO << "Maximum speeds and move to dest lane config: ";
  for (const auto& data : move_dest_lane_config_talbe_) {
    auto max_speed = data.first;
    auto max_move_dest_lane_shift_y = data.second;
    AINFO << "[max_speed : " << max_speed
          << " ,max move dest lane shift y : " << max_move_dest_lane_shift_y
          << "]";
  }
  max_keep_lane_distance_ = config_.max_keep_lane_distance();
  max_keep_lane_shift_y_ = config_.max_keep_lane_shift_y();
  min_keep_lane_offset_ = config_.min_keep_lane_offset();
  keep_lane_shift_compensation_ = config_.keep_lane_shift_compensation();
  start_plan_point_from_ = config_.start_plan_point_from();
  move_dest_lane_compensation_ = config_.move_dest_lane_compensation();
 
  is_init_ = obstacle_decider_.Init(config);
  return is_init_;
}

该类的文档由以下文件生成:

modules/planning/planners/navi/decider/navi_path_decider.h
modules/planning/planners/navi/decider/navi_path_decider.cc

Public 成员函数