#include <stage_cruise.h>

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

apollo::planning::ParkAndGoStageCruise 的协作图:

Public 类型
enum	ParkAndGoStatus { CRUISING = 1 , CRUISE_COMPLETE = 2 , ADJUST = 3 , ADJUST_COMPLETE = 4 , FAIL = 5 }

Public 成员函数
StageResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame) override
	Each stage does its business logic inside Process function.

Public 成员函数继承自 apollo::planning::Stage
	Stage ()

virtual bool	Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)

virtual	~Stage ()=default

const std::string &	Name () const

template<typename T >
T *	GetContextAs () const

const std::string &	NextStage () const

额外继承的成员函数
Protected 成员函数继承自 apollo::planning::Stage
StageResult	ExecuteTaskOnReferenceLine (const common::TrajectoryPoint &planning_start_point, Frame *frame)

StageResult	ExecuteTaskOnReferenceLineForOnlineLearning (const common::TrajectoryPoint &planning_start_point, Frame *frame)

StageResult	ExecuteTaskOnOpenSpace (Frame *frame)

virtual StageResult	FinishScenario ()

void	RecordDebugInfo (ReferenceLineInfo *reference_line_info, const std::string &name, const double time_diff_ms)

Protected 属性继承自 apollo::planning::Stage
std::vector< std::shared_ptr< Task > >	task_list_

std::shared_ptr< Task >	fallback_task_

std::string	next_stage_

void *	context_

std::shared_ptr< DependencyInjector >	injector_

StagePipeline	pipeline_config_

详细描述

在文件 stage_cruise.h 第 27 行定义.

成员枚举类型说明

◆ ParkAndGoStatus

enum apollo::planning::ParkAndGoStageCruise::ParkAndGoStatus

枚举值
CRUISING
CRUISE_COMPLETE
ADJUST
ADJUST_COMPLETE
FAIL

在文件 stage_cruise.h 第 29 行定义.

                       {
    CRUISING = 1,
    CRUISE_COMPLETE = 2,
    ADJUST = 3,
    ADJUST_COMPLETE = 4,
    FAIL = 5,
  };

成员函数说明

◆ Process()

StageResult apollo::planning::ParkAndGoStageCruise::Process	(	const common::TrajectoryPoint &	planning_init_point,
		Frame *	frame
	)

overridevirtual

Each stage does its business logic inside Process function.

If the stage want to transit to a different stage after finish, it should set the type of 'next_stage_'.

实现了 apollo::planning::Stage.

在文件 stage_cruise.cc 第 30 行定义.

                                                              {
  ADEBUG << "stage: Cruise";
  CHECK_NOTNULL(frame);
 
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  if (result.HasError()) {
    AERROR << "ParkAndGoStageCruise planning error";
  }
 
  const ReferenceLineInfo& reference_line_info =
      frame->reference_line_info().front();
  // check ADC status:
  // 1. At routing beginning: stage finished
  ParkAndGoStatus status =
      CheckADCParkAndGoCruiseCompleted(reference_line_info);
 
  if (status == CRUISE_COMPLETE) {
    return FinishStage();
  }
  return result.SetStageStatus(StageStatusType::RUNNING);
}

该类的文档由以下文件生成:

modules/planning/scenarios/park_and_go/stage_cruise.h
modules/planning/scenarios/park_and_go/stage_cruise.cc

Public 类型

Public 成员函数

额外继承的成员函数

详细描述

成员枚举类型说明

◆ ParkAndGoStatus

成员函数说明

◆ Process()