apollo::planning::OpenSpaceTrajectoryProvider类 参考

#include <open_space_trajectory_provider.h>

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

apollo::planning::OpenSpaceTrajectoryProvider 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
	~OpenSpaceTrajectoryProvider ()
void	Stop ()
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_provider.h 第 53 行定义.

构造及析构函数说明

~OpenSpaceTrajectoryProvider()

apollo::planning::OpenSpaceTrajectoryProvider::~OpenSpaceTrajectoryProvider

(

)

在文件 open_space_trajectory_provider.cc 第 59 行定义.

                                                          {
  if (config_.enable_open_space_planner_thread()) {
    Stop();
  }
}

成员函数说明

Init()

bool apollo::planning::OpenSpaceTrajectoryProvider::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_provider.cc 第 43 行定义.

                                                       {
  if (!Task::Init(config_dir, name, injector)) {
    return false;
  }
  // Load the config this task.
  if (!Task::LoadConfig<OpenSpaceTrajectoryProviderConfig>(&config_)) {
    return false;
  }
  straight_trajectory_length_ = config_.open_space_straight_trajectory_length();
  open_space_trajectory_optimizer_.reset(new OpenSpaceTrajectoryOptimizer(
      config_.open_space_trajectory_optimizer_config()));
  return true;
}

Restart()

void apollo::planning::OpenSpaceTrajectoryProvider::Restart

(

)

在文件 open_space_trajectory_provider.cc 第 79 行定义.

                                          {
  if (config_.enable_open_space_planner_thread()) {
    is_generation_thread_stop_.store(true);
    if (thread_init_flag_) {
      task_future_.get();
    }
    is_generation_thread_stop_.store(false);
    thread_init_flag_ = false;
    trajectory_updated_.store(false);
    trajectory_error_.store(false);
    trajectory_skipped_.store(false);
    optimizer_thread_counter = 0;
    is_planned_ = false;
  }
}

Stop()

void apollo::planning::OpenSpaceTrajectoryProvider::Stop

(

)

在文件 open_space_trajectory_provider.cc 第 65 行定义.

                                       {
  if (config_.enable_open_space_planner_thread()) {
    is_generation_thread_stop_.store(true);
    if (thread_init_flag_) {
      task_future_.get();
    }
    trajectory_updated_.store(false);
    trajectory_error_.store(false);
    trajectory_skipped_.store(false);
    optimizer_thread_counter = 0;
    last_trajctory_point.Clear();
  }
}

---

该类的文档由以下文件生成:

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