PathDecision represents all obstacle decisions on one path. 更多...

#include <path_decision.h>

apollo::planning::PathDecision 的协作图:

Public 成员函数
	PathDecision ()=default

Obstacle *	AddObstacle (const Obstacle &obstacle)

const IndexedList< std::string, Obstacle > &	obstacles () const

bool	AddLateralDecision (const std::string &tag, const std::string &object_id, const ObjectDecisionType &decision)

bool	AddLongitudinalDecision (const std::string &tag, const std::string &object_id, const ObjectDecisionType &decision)

const Obstacle *	Find (const std::string &object_id) const

const perception::PerceptionObstacle *	FindPerceptionObstacle (const std::string &perception_obstacle_id) const

Obstacle *	Find (const std::string &object_id)

void	SetSTBoundary (const std::string &id, const STBoundary &boundary)

void	EraseStBoundaries ()

MainStop	main_stop () const

double	stop_reference_line_s () const

bool	MergeWithMainStop (const ObjectStop &obj_stop, const std::string &obj_id, const ReferenceLine &ref_line, const SLBoundary &adc_sl_boundary)

详细描述

PathDecision represents all obstacle decisions on one path.

在文件 path_decision.h 第 39 行定义.

构造及析构函数说明

◆ PathDecision()

apollo::planning::PathDecision::PathDecision ( )

default

成员函数说明

◆ AddLateralDecision()

bool apollo::planning::PathDecision::AddLateralDecision	(	const std::string &	tag,
		const std::string &	object_id,
		const ObjectDecisionType &	decision
	)

在文件 path_decision.cc 第 68 行定义.

                                                                          {
  auto *obstacle = obstacles_.Find(object_id);
  if (!obstacle) {
    AERROR << "failed to find obstacle";
    return false;
  }
  obstacle->AddLateralDecision(tag, decision);
  return true;
}

◆ AddLongitudinalDecision()

bool apollo::planning::PathDecision::AddLongitudinalDecision	(	const std::string &	tag,
		const std::string &	object_id,
		const ObjectDecisionType &	decision
	)

在文件 path_decision.cc 第 87 行定义.

                                                                               {
  auto *obstacle = obstacles_.Find(object_id);
  if (!obstacle) {
    AERROR << "failed to find obstacle";
    return false;
  }
  obstacle->AddLongitudinalDecision(tag, decision);
  return true;
}

◆ AddObstacle()

Obstacle * apollo::planning::PathDecision::AddObstacle ( const Obstacle & obstacle )

在文件 path_decision.cc 第 31 行定义.

                                                            {
  return obstacles_.Add(obstacle.Id(), obstacle);
}

◆ EraseStBoundaries()

void apollo::planning::PathDecision::EraseStBoundaries ( )

在文件 path_decision.cc 第 80 行定义.

                                     {
  for (const auto *obstacle : obstacles_.Items()) {
    auto *obstacle_ptr = obstacles_.Find(obstacle->Id());
    obstacle_ptr->EraseStBoundary();
  }
}

◆ Find() [1/2]

Obstacle * apollo::planning::PathDecision::Find ( const std::string & object_id )

在文件 path_decision.cc 第 37 行定义.

                                                       {
  return obstacles_.Find(object_id);
}

◆ Find() [2/2]

const Obstacle * apollo::planning::PathDecision::Find ( const std::string & object_id ) const

在文件 path_decision.cc 第 41 行定义.

                                                                   {
  return obstacles_.Find(object_id);
}

◆ FindPerceptionObstacle()

const perception::PerceptionObstacle * apollo::planning::PathDecision::FindPerceptionObstacle ( const std::string & perception_obstacle_id ) const

在文件 path_decision.cc 第 45 行定义.

                                                   {
  for (const auto *obstacle : obstacles_.Items()) {
    if (std::to_string(obstacle->Perception().id()) == perception_obstacle_id) {
      return &(obstacle->Perception());
    }
  }
 
  return nullptr;
}

◆ main_stop()

MainStop apollo::planning::PathDecision::main_stop ( ) const

inline

在文件 path_decision.h 第 62 行定义.

62{ return main_stop_; }

◆ MergeWithMainStop()

bool apollo::planning::PathDecision::MergeWithMainStop	(	const ObjectStop &	obj_stop,
		const std::string &	obj_id,
		const ReferenceLine &	ref_line,
		const SLBoundary &	adc_sl_boundary
	)

在文件 path_decision.cc 第 99 行定义.

                                                                        {
  common::PointENU stop_point = obj_stop.stop_point();
  common::SLPoint stop_line_sl;
  reference_line.XYToSL(stop_point, &stop_line_sl);
 
  double stop_line_s = stop_line_sl.s();
  if (stop_line_s < 0.0 || stop_line_s > reference_line.Length()) {
    AERROR << "Ignore object:" << obj_id << " fence route_s[" << stop_line_s
           << "] not in range[0, " << reference_line.Length() << "]";
    return false;
  }
 
  // check stop_line_s vs adc_s, ignore if it is further way than main stop
  const auto &vehicle_config = common::VehicleConfigHelper::GetConfig();
  stop_line_s = std::fmax(
      stop_line_s, adc_sl_boundary.end_s() -
                       vehicle_config.vehicle_param().front_edge_to_center());
 
  if (stop_line_s >= stop_reference_line_s_) {
    ADEBUG << "stop point is farther than current main stop point.";
    return false;
  }
 
  main_stop_.Clear();
  main_stop_.set_reason_code(obj_stop.reason_code());
  main_stop_.set_reason("stop by " + obj_id);
  main_stop_.mutable_stop_point()->set_x(obj_stop.stop_point().x());
  main_stop_.mutable_stop_point()->set_y(obj_stop.stop_point().y());
  main_stop_.set_stop_heading(obj_stop.stop_heading());
  stop_reference_line_s_ = stop_line_s;
 
  ADEBUG << " main stop obstacle id:" << obj_id
         << " stop_line_s:" << stop_line_s << " stop_point: ("
         << obj_stop.stop_point().x() << obj_stop.stop_point().y()
         << " ) stop_heading: " << obj_stop.stop_heading();
  return true;
}

◆ obstacles()

const IndexedObstacles & apollo::planning::PathDecision::obstacles ( ) const

在文件 path_decision.cc 第 35 行定义.

35{ return obstacles_; }

◆ SetSTBoundary()

void apollo::planning::PathDecision::SetSTBoundary	(	const std::string &	id,
		const STBoundary &	boundary
	)

在文件 path_decision.cc 第 56 行定义.

                                                             {
  auto *obstacle = obstacles_.Find(id);
 
  if (!obstacle) {
    AERROR << "Failed to find obstacle : " << id;
    return;
  } else {
    obstacle->set_path_st_boundary(boundary);
  }
}

◆ stop_reference_line_s()

double apollo::planning::PathDecision::stop_reference_line_s ( ) const