apollo::planning::OpenSpaceTrajectoryPartition类 参考

#include <open_space_trajectory_partition.h>

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

apollo::planning::OpenSpaceTrajectoryPartition 的协作图:

Public 成员函数
bool	Init (const std::string &config_dir, const std::string &name, const std::shared_ptr< DependencyInjector > &injector) override
	~OpenSpaceTrajectoryPartition ()=default
void	Restart ()
Public 成员函数 继承自 apollo::planning::TrajectoryOptimizer
virtual	~TrajectoryOptimizer ()=default
apollo::common::Status	Execute (Frame *frame) override
Public 成员函数 继承自 apollo::planning::Task
	Task ()
virtual	~Task ()=default
const std::string &	Name () const
virtual common::Status	Execute (Frame *frame, ReferenceLineInfo *reference_line_info)

额外继承的成员函数
Protected 成员函数 继承自 apollo::planning::Task
template<typename T >
bool	LoadConfig (T *config)
Protected 属性 继承自 apollo::planning::Task
Frame *	frame_
ReferenceLineInfo *	reference_line_info_
std::shared_ptr< DependencyInjector >	injector_
std::string	config_path_
std::string	default_config_path_
std::string	name_

详细描述

在文件 open_space_trajectory_partition.h 第 40 行定义.

构造及析构函数说明

~OpenSpaceTrajectoryPartition()

apollo::planning::OpenSpaceTrajectoryPartition::~OpenSpaceTrajectoryPartition ( )

default

成员函数说明

Init()

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

overridevirtual

重载 apollo::planning::Task .

在文件 open_space_trajectory_partition.cc 第 46 行定义.

                                                       {
  if (!Task::Init(config_dir, name, injector)) {
    return false;
  }
  // Load the config this task.
  bool res = Task::LoadConfig<OpenSpaceTrajectoryPartitionConfig>(&config_);
  heading_search_range_ = config_.heading_search_range();
  heading_track_range_ = config_.heading_track_range();
  distance_search_range_ = config_.distance_search_range();
  heading_offset_to_midpoint_ = config_.heading_offset_to_midpoint();
  lateral_offset_to_midpoint_ = config_.lateral_offset_to_midpoint();
  longitudinal_offset_to_midpoint_ = config_.longitudinal_offset_to_midpoint();
  vehicle_box_iou_threshold_to_midpoint_ =
      config_.vehicle_box_iou_threshold_to_midpoint();
  linear_velocity_threshold_on_ego_ =
      config_.linear_velocity_threshold_on_ego();
  vehicle_param_ =
      common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param();
  ego_length_ = vehicle_param_.length();
  ego_width_ = vehicle_param_.width();
  shift_distance_ = ego_length_ / 2.0 - vehicle_param_.back_edge_to_center();
  wheel_base_ = vehicle_param_.wheel_base();
  AINFO << config_.DebugString();
  return res;
}

Restart()

void apollo::planning::OpenSpaceTrajectoryPartition::Restart

(

)

在文件 open_space_trajectory_partition.cc 第 74 行定义.

                                           {
  auto* current_gear_status =
      frame_->mutable_open_space_info()->mutable_gear_switch_states();
  current_gear_status->gear_switching_flag = false;
  current_gear_status->gear_shift_period_finished = true;
  current_gear_status->gear_shift_period_started = true;
  current_gear_status->gear_shift_period_time = 0.0;
  current_gear_status->gear_shift_start_time = 0.0;
  current_gear_status->gear_shift_position = canbus::Chassis::GEAR_DRIVE;
}

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该类的文档由以下文件生成:

• modules/planning/tasks/open_space_trajectory_partition/open_space_trajectory_partition.h
• modules/planning/tasks/open_space_trajectory_partition/open_space_trajectory_partition.cc