#include <path_data.h>

apollo::planning::PathData 的协作图:

Public 类型
enum class	PathPointType { IN_LANE , OUT_ON_FORWARD_LANE , OUT_ON_REVERSE_LANE , OFF_ROAD , UNKNOWN }

Public 成员函数
	PathData ()=default

bool	SetDiscretizedPath (DiscretizedPath path)

bool	SetFrenetPath (FrenetFramePath frenet_path)

void	SetReferenceLine (const ReferenceLine *reference_line)

bool	SetPathPointDecisionGuide (std::vector< std::tuple< double, PathPointType, double > > path_point_decision_guide)

const DiscretizedPath &	discretized_path () const

const FrenetFramePath &	frenet_frame_path () const

const std::vector< std::tuple< double, PathPointType, double > > &	path_point_decision_guide () const

common::PathPoint	GetPathPointWithPathS (const double s) const

bool	GetPathPointWithRefS (const double ref_s, common::PathPoint *const path_point) const

bool	LeftTrimWithRefS (const common::FrenetFramePoint &frenet_point)

bool	UpdateFrenetFramePath (const ReferenceLine *reference_line)

void	Clear ()

bool	Empty () const

std::string	DebugString () const

void	set_path_label (const std::string &label)

const std::string &	path_label () const

void	set_blocking_obstacle_id (const std::string &obs_id)

const std::string &	blocking_obstacle_id () const

const bool	is_valid_path_reference () const

void	set_is_valid_path_reference (bool is_valid_path_reference)

const bool	is_optimized_towards_trajectory_reference () const

void	set_is_optimized_towards_trajectory_reference (bool is_optimized_towards_trajectory_reference)

const std::vector< common::PathPoint > &	path_reference () const

void	set_path_reference (const std::vector< common::PathPoint > &path_reference)

bool	is_reverse_path () const

void	set_is_reverse_path (bool is_reverse_path)

详细描述

在文件 path_data.h 第 36 行定义.

成员枚举类型说明

◆ PathPointType

enum class apollo::planning::PathData::PathPointType

strong

枚举值
IN_LANE
OUT_ON_FORWARD_LANE
OUT_ON_REVERSE_LANE
OFF_ROAD
UNKNOWN

在文件 path_data.h 第 38 行定义.

                           {
    IN_LANE,
    OUT_ON_FORWARD_LANE,
    OUT_ON_REVERSE_LANE,
    OFF_ROAD,
    UNKNOWN,
  };

构造及析构函数说明

◆ PathData()

apollo::planning::PathData::PathData ( )

default

成员函数说明

◆ blocking_obstacle_id()

const std::string & apollo::planning::PathData::blocking_obstacle_id ( ) const

inline

在文件 path_data.h 第 91 行定义.

                                                {
    return blocking_obstacle_id_;
  }

◆ Clear()

void apollo::planning::PathData::Clear ( )

在文件 path_data.cc 第 153 行定义.

                     {
  discretized_path_.clear();
  frenet_path_.clear();
  path_point_decision_guide_.clear();
  path_reference_.clear();
  reference_line_ = nullptr;
}

◆ DebugString()

std::string apollo::planning::PathData::DebugString ( ) const

在文件 path_data.cc 第 161 行定义.

                                      {
  const auto limit =
      std::min(discretized_path_.size(),
               static_cast<size_t>(FLAGS_trajectory_point_num_for_debug));
 
  return absl::StrCat(
      "[\n",
      absl::StrJoin(discretized_path_.begin(),
                    discretized_path_.begin() + limit, ",\n",
                    apollo::common::util::DebugStringFormatter()),
      "]\n");
}

◆ discretized_path()

const DiscretizedPath & apollo::planning::PathData::discretized_path ( ) const

在文件 path_data.cc 第 90 行定义.

                                                        {
  return discretized_path_;
}

◆ Empty()

bool apollo::planning::PathData::Empty ( ) const

在文件 path_data.cc 第 103 行定义.

                           {
  return discretized_path_.empty() && frenet_path_.empty();
}

◆ frenet_frame_path()

const FrenetFramePath & apollo::planning::PathData::frenet_frame_path ( ) const

在文件 path_data.cc 第 94 行定义.

                                                         {
  return frenet_path_;
}

◆ GetPathPointWithPathS()

common::PathPoint apollo::planning::PathData::GetPathPointWithPathS ( const double s ) const

在文件 path_data.cc 第 112 行定义.

                                                                    {
  return discretized_path_.Evaluate(s);
}

◆ GetPathPointWithRefS()

bool apollo::planning::PathData::GetPathPointWithRefS	(	const double	ref_s,
		common::PathPoint *const	path_point
	)		const

在文件 path_data.cc 第 116 行定义.

                                                                             {
  ACHECK(reference_line_);
  DCHECK_EQ(discretized_path_.size(), frenet_path_.size());
  if (ref_s < 0) {
    AERROR << "ref_s[" << ref_s << "] should be > 0";
    return false;
  }
  if (ref_s > frenet_path_.back().s()) {
    AERROR << "ref_s is larger than the length of frenet_path_ length ["
           << frenet_path_.back().s() << "].";
    return false;
  }
 
  uint32_t index = 0;
  const double kDistanceEpsilon = 1e-3;
  for (uint32_t i = 0; i + 1 < frenet_path_.size(); ++i) {
    if (fabs(ref_s - frenet_path_.at(i).s()) < kDistanceEpsilon) {
      path_point->CopyFrom(discretized_path_.at(i));
      return true;
    }
    if (frenet_path_.at(i).s() < ref_s && ref_s <= frenet_path_.at(i + 1).s()) {
      index = i;
      break;
    }
  }
  double r = (ref_s - frenet_path_.at(index).s()) /
             (frenet_path_.at(index + 1).s() - frenet_path_.at(index).s());
 
  const double discretized_path_s = discretized_path_.at(index).s() +
                                    r * (discretized_path_.at(index + 1).s() -
                                         discretized_path_.at(index).s());
  path_point->CopyFrom(discretized_path_.Evaluate(discretized_path_s));
 
  return true;
}

◆ is_optimized_towards_trajectory_reference()

const bool apollo::planning::PathData::is_optimized_towards_trajectory_reference ( ) const

inline

在文件 path_data.h 第 102 行定义.

                                                               {
    return is_optimized_towards_trajectory_reference_;
  }

◆ is_reverse_path()

bool apollo::planning::PathData::is_reverse_path ( ) const

inline

在文件 path_data.h 第 113 行定义.

113{ return is_reverse_path_; }

◆ is_valid_path_reference()

const bool apollo::planning::PathData::is_valid_path_reference ( ) const

inline

在文件 path_data.h 第 95 行定义.

                                             {
    return is_valid_path_reference_;
  }

◆ LeftTrimWithRefS()

bool apollo::planning::PathData::LeftTrimWithRefS ( const common::FrenetFramePoint & frenet_point )

在文件 path_data.cc 第 240 行定义.

                                                                          {
  ACHECK(reference_line_);
  std::vector<common::FrenetFramePoint> frenet_frame_points;
  frenet_frame_points.emplace_back(frenet_point);
 
  for (const common::FrenetFramePoint fp : frenet_path_) {
    if (std::fabs(fp.s() - frenet_point.s()) < 1e-6) {
      continue;
    }
    if (fp.s() > frenet_point.s()) {
      frenet_frame_points.push_back(fp);
    }
  }
  SetFrenetPath(FrenetFramePath(std::move(frenet_frame_points)));
  return true;
}

◆ path_label()

const std::string & apollo::planning::PathData::path_label ( ) const

在文件 path_data.cc 第 264 行定义.

264{ return path_label_; }

◆ path_point_decision_guide()

const std::vector< std::tuple< double, PathData::PathPointType, double > > & apollo::planning::PathData::path_point_decision_guide ( ) const

在文件 path_data.cc 第 99 行定义.

                                               {
  return path_point_decision_guide_;
}

◆ path_reference()

const std::vector< PathPoint > & apollo::planning::PathData::path_reference ( ) const

在文件 path_data.cc 第 266 行定义.

                                                           {
  return path_reference_;
}

◆ set_blocking_obstacle_id()

void apollo::planning::PathData::set_blocking_obstacle_id ( const std::string & obs_id )

inline

在文件 path_data.h 第 88 行定义.

                                                         {
    blocking_obstacle_id_ = obs_id;
  }

◆ set_is_optimized_towards_trajectory_reference()

void apollo::planning::PathData::set_is_optimized_towards_trajectory_reference ( bool is_optimized_towards_trajectory_reference )

inline

在文件 path_data.h 第 105 行定义.

                                                      {
    is_optimized_towards_trajectory_reference_ =
        is_optimized_towards_trajectory_reference;
  }

◆ set_is_reverse_path()

void apollo::planning::PathData::set_is_reverse_path ( bool is_reverse_path )

inline

在文件 path_data.h 第 114 行定义.

                                                 {
    is_reverse_path_ = is_reverse_path;
  }

◆ set_is_valid_path_reference()

void apollo::planning::PathData::set_is_valid_path_reference ( bool is_valid_path_reference )

inline

在文件 path_data.h 第 98 行定义.

                                                                 {
    is_valid_path_reference_ = is_valid_path_reference;
  }

◆ set_path_label()

void apollo::planning::PathData::set_path_label ( const std::string & label )

在文件 path_data.cc 第 262 行定义.

262{ path_label_ = label; }

◆ set_path_reference()

void apollo::planning::PathData::set_path_reference ( const std::vector< common::PathPoint > & path_reference )

在文件 path_data.cc 第 270 行定义.

                                                {
  path_reference_ = std::move(path_reference);
}

◆ SetDiscretizedPath()

bool apollo::planning::PathData::SetDiscretizedPath ( DiscretizedPath path )

在文件 path_data.cc 第 43 行定义.

                                                      {
  if (reference_line_ == nullptr) {
    AERROR << "Should NOT set discretized path when reference line is nullptr. "
              "Please set reference line first.";
    return false;
  }
  discretized_path_ = std::move(path);
  if (!XYToSL(discretized_path_, &frenet_path_)) {
    AERROR << "Fail to transfer discretized path to frenet path.";
    return false;
  }
  DCHECK_EQ(discretized_path_.size(), frenet_path_.size());
  return true;
}

◆ SetFrenetPath()

bool apollo::planning::PathData::SetFrenetPath ( FrenetFramePath frenet_path )

在文件 path_data.cc 第 58 行定义.

                                                        {
  if (reference_line_ == nullptr) {
    AERROR << "Should NOT set frenet path when reference line is nullptr. "
              "Please set reference line first.";
    return false;
  }
  frenet_path_ = std::move(frenet_path);
  if (!SLToXY(frenet_path_, &discretized_path_)) {
    AERROR << "Fail to transfer frenet path to discretized path.";
    return false;
  }
  DCHECK_EQ(discretized_path_.size(), frenet_path_.size());
  return true;
}

◆ SetPathPointDecisionGuide()

bool apollo::planning::PathData::SetPathPointDecisionGuide ( std::vector< std::tuple< double, PathPointType, double > > path_point_decision_guide )

在文件 path_data.cc 第 73 行定义.

                                   {
  if (reference_line_ == nullptr) {
    AERROR << "Should NOT set path_point_decision_guide when reference line is "
              "nullptr. ";
    return false;
  }
  if (frenet_path_.empty() || discretized_path_.empty()) {
    AERROR << "Should NOT set path_point_decision_guide when frenet_path or "
              "world frame trajectory is empty. ";
    return false;
  }
  path_point_decision_guide_ = std::move(path_point_decision_guide);
  return true;
}

◆ SetReferenceLine()

void apollo::planning::PathData::SetReferenceLine ( const ReferenceLine * reference_line )

在文件 path_data.cc 第 107 行定义.

                                                                   {
  Clear();
  reference_line_ = reference_line;
}

◆ UpdateFrenetFramePath()

bool apollo::planning::PathData::UpdateFrenetFramePath ( const ReferenceLine * reference_line )

在文件 path_data.cc 第 257 行定义.

                                                                        {
  reference_line_ = reference_line;
  return SetDiscretizedPath(discretized_path_);
}

该类的文档由以下文件生成:

modules/planning/planning_base/common/path/path_data.h
modules/planning/planning_base/common/path/path_data.cc

Public 类型

Public 成员函数

详细描述

成员枚举类型说明

◆ PathPointType

构造及析构函数说明

◆ PathData()

成员函数说明

◆ blocking_obstacle_id()

◆ Clear()

◆ DebugString()

◆ discretized_path()

◆ Empty()

◆ frenet_frame_path()

◆ GetPathPointWithPathS()

◆ GetPathPointWithRefS()

◆ is_optimized_towards_trajectory_reference()

◆ is_reverse_path()

◆ is_valid_path_reference()

◆ LeftTrimWithRefS()

◆ path_label()

◆ path_point_decision_guide()

◆ path_reference()

◆ set_blocking_obstacle_id()

◆ set_is_optimized_towards_trajectory_reference()

◆ set_is_reverse_path()

◆ set_is_valid_path_reference()

◆ set_path_label()

◆ set_path_reference()

◆ SetDiscretizedPath()

◆ SetFrenetPath()

◆ SetPathPointDecisionGuide()

◆ SetReferenceLine()

◆ UpdateFrenetFramePath()