apollo::planning::ParkAndGoStagePreCruise类 参考

#include <stage_pre_cruise.h>

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

apollo::planning::ParkAndGoStagePreCruise 的协作图:

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_pre_cruise.h 第 27 行定义.

成员函数说明

Process()

StageResult apollo::planning::ParkAndGoStagePreCruise::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_pre_cruise.cc 第 32 行定义.

                                                              {
  ADEBUG << "stage: Pre Cruise";
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(context_);
 
  const ScenarioParkAndGoConfig& scenario_config =
      GetContextAs<ParkAndGoContext>()->scenario_config;
 
  frame->mutable_open_space_info()->set_is_on_open_space_trajectory(true);
  StageResult result = ExecuteTaskOnOpenSpace(frame);
  if (result.HasError()) {
    AERROR << "ParkAndGoStagePreCruise planning error";
    return result.SetStageStatus(StageStatusType::ERROR);
  }
  // const bool ready_to_cruise =
  //     CheckADCReadyToCruise(frame, scenario_config_);
  auto vehicle_status = injector_->vehicle_state();
  AINFO << "Current steering percentage: "
        << vehicle_status->steering_percentage();;
 
  if ((std::fabs(vehicle_status->steering_percentage()) <
       scenario_config.max_steering_percentage_when_cruise()) &&
      CheckADCReadyToCruise(injector_->vehicle_state(), frame,
                            scenario_config)) {
    return FinishStage();
  }
  return result.SetStageStatus(StageStatusType::RUNNING);
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/park_and_go/stage_pre_cruise.h
• modules/planning/scenarios/park_and_go/stage_pre_cruise.cc