#include <path_generation.h>

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

apollo::planning::PathGeneration 的协作图:

Public 成员函数
virtual	~PathGeneration ()=default

apollo::common::Status	Execute (Frame frame, ReferenceLineInfo reference_line_info) override

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 bool	Init (const std::string &config_dir, const std::string &name, const std::shared_ptr< DependencyInjector > &injector)

Protected 成员函数
virtual apollo::common::Status	Process (Frame frame, ReferenceLineInfo reference_line_info)

virtual apollo::common::Status	Process (Frame *frame)

void	GetStartPointSLState ()
	calculate init sl state by planning start point, result will store in init_sl_state_

void	RecordDebugInfo (const PathBound &path_boundaries, const std::string &debug_name, ReferenceLineInfo *const reference_line_info)
	add path_boundary debug info for PnC monitor

void	RecordDebugInfo (const PathData &path_data, const std::string &debug_name, ReferenceLineInfo *const reference_line_info)
	add path debug info for PnC monitor

bool	GetSLBoundary (const PathData &path_data, int point_index, const ReferenceLineInfo reference_line_info, SLBoundary const sl_boundary)
	get sl boundary of the point on PathData

Protected 成员函数继承自 apollo::planning::Task
template<typename T >
bool	LoadConfig (T *config)

Protected 属性
SLState	init_sl_state_

std::vector< SLPolygon >	obs_sl_polygons_

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 path_generation.h 第 31 行定义.

构造及析构函数说明

◆ ~PathGeneration()

virtual apollo::planning::PathGeneration::~PathGeneration ( )

virtualdefault

成员函数说明

◆ Execute() [1/2]

apollo::common::Status apollo::planning::PathGeneration::Execute ( Frame * frame )

overridevirtual

重载 apollo::planning::Task .

在文件 path_generation.cc 第 37 行定义.

                                                       {
  Task::Execute(frame);
  return Process(frame);
}

◆ Execute() [2/2]

apollo::common::Status apollo::planning::PathGeneration::Execute	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)

overridevirtual

重载 apollo::planning::Task .

在文件 path_generation.cc 第 31 行定义.

                                                          {
  Task::Execute(frame, reference_line_info);
  return Process(frame, reference_line_info);
}

◆ GetSLBoundary()

bool apollo::planning::PathGeneration::GetSLBoundary	(	const PathData &	path_data,
		int	point_index,
		const ReferenceLineInfo *	reference_line_info,
		SLBoundary *const	sl_boundary
	)

protected

get sl boundary of the point on PathData

参数

path_data	PathData which the point is on
point_index	index of the point on PathData
sl_boundary	output SLBoundary of the point

返回: True if SLBoundary is found

在文件 path_generation.cc 第 134 行定义.

                                                                  {
  CHECK_NOTNULL(sl_boundary);
  const auto& discrete_path = path_data.discretized_path();
  if (point_index < 0 ||
      static_cast<size_t>(point_index) > discrete_path.size()) {
    return false;
  }
  sl_boundary->mutable_boundary_point()->Clear();
  // Get vehicle config parameters.
  const auto& vehicle_config =
      common::VehicleConfigHelper::Instance()->GetConfig();
  const double ego_length = vehicle_config.vehicle_param().length();
  const double ego_width = vehicle_config.vehicle_param().width();
  const double ego_back_to_center =
      vehicle_config.vehicle_param().back_edge_to_center();
  const double ego_center_shift_distance =
      ego_length / 2.0 - ego_back_to_center;
  // Generate vehicle bounding box.
  const auto& rear_center_path_point = discrete_path[point_index];
  const double ego_theta = rear_center_path_point.theta();
  common::math::Box2d ego_box(
      {rear_center_path_point.x(), rear_center_path_point.y()}, ego_theta,
      ego_length, ego_width);
  common::math::Vec2d shift_vec{
      ego_center_shift_distance * ego_box.cos_heading(),
      ego_center_shift_distance * ego_box.sin_heading()};
  ego_box.Shift(shift_vec);
  // Set warm_start_s near the geometry center of the box.
  double warm_start_s = path_data.frenet_frame_path()[point_index].s() +
                        ego_center_shift_distance;
  // Get the SL boundary of vehicle.
  reference_line_info->reference_line().GetSLBoundary(ego_box, sl_boundary,
                                                      warm_start_s);
  return true;
}

◆ GetStartPointSLState()

void apollo::planning::PathGeneration::GetStartPointSLState ( )

protected

calculate init sl state by planning start point, result will store in init_sl_state_

在文件 path_generation.cc 第 107 行定义.

                                          {
  const ReferenceLine& reference_line = reference_line_info_->reference_line();
  common::TrajectoryPoint planning_start_point = frame_->PlanningStartPoint();
  if (FLAGS_use_front_axe_center_in_path_planning) {
    double front_to_rear_axe_distance =
        apollo::common::VehicleConfigHelper::GetConfig()
            .vehicle_param()
            .wheel_base();
    planning_start_point.mutable_path_point()->set_x(
        planning_start_point.path_point().x() +
        front_to_rear_axe_distance *
            std::cos(planning_start_point.path_point().theta()));
    planning_start_point.mutable_path_point()->set_y(
        planning_start_point.path_point().y() +
        front_to_rear_axe_distance *
            std::sin(planning_start_point.path_point().theta()));
  }
  AINFO << std::fixed << "Plan at the starting point: x = "
        << planning_start_point.path_point().x()
        << ", y = " << planning_start_point.path_point().y()
        << ", and angle = " << planning_start_point.path_point().theta();
 
  // Initialize some private variables.
  // ADC s/l info.
  init_sl_state_ = reference_line.ToFrenetFrame(planning_start_point);
}

◆ Process() [1/2]

virtual apollo::common::Status apollo::planning::PathGeneration::Process ( Frame * frame )

inlineprotectedvirtual

在文件 path_generation.h 第 46 行定义.

                                                   {
    return apollo::common::Status::OK();
  }

◆ Process() [2/2]

virtual apollo::common::Status apollo::planning::PathGeneration::Process	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)

inlineprotectedvirtual

在文件 path_generation.h 第 41 行定义.

                                                            {
    return apollo::common::Status::OK();
  }

◆ RecordDebugInfo() [1/2]

void apollo::planning::PathGeneration::RecordDebugInfo	(	const PathBound &	path_boundaries,
		const std::string &	debug_name,
		ReferenceLineInfo *const	reference_line_info
	)

protected

add path_boundary debug info for PnC monitor

在文件 path_generation.cc 第 42 行定义.

                                                  {
  // Sanity checks.
  if (path_boundaries.empty()) {
    AINFO << "path boundary is empty!";
    return;
  }
  CHECK_NOTNULL(reference_line_info);
 
  // Take the left and right path boundaries, and transform them into two
  // PathData so that they can be displayed in simulator.
  std::vector<common::FrenetFramePoint> frenet_frame_left_boundaries;
  std::vector<common::FrenetFramePoint> frenet_frame_right_boundaries;
  for (const PathBoundPoint& path_bound_point : path_boundaries) {
    common::FrenetFramePoint frenet_frame_point;
    frenet_frame_point.set_s(path_bound_point.s);
    frenet_frame_point.set_dl(0.0);
    frenet_frame_point.set_ddl(0.0);
 
    frenet_frame_point.set_l(path_bound_point.l_lower.l);
    frenet_frame_right_boundaries.push_back(frenet_frame_point);
    frenet_frame_point.set_l(path_bound_point.l_upper.l);
    frenet_frame_left_boundaries.push_back(frenet_frame_point);
  }
 
  auto frenet_frame_left_path =
      FrenetFramePath(std::move(frenet_frame_left_boundaries));
  auto frenet_frame_right_path =
      FrenetFramePath(std::move(frenet_frame_right_boundaries));
 
  PathData left_path_data;
  left_path_data.SetReferenceLine(&(reference_line_info->reference_line()));
  left_path_data.SetFrenetPath(std::move(frenet_frame_left_path));
  PathData right_path_data;
  right_path_data.SetReferenceLine(&(reference_line_info->reference_line()));
  right_path_data.SetFrenetPath(std::move(frenet_frame_right_path));
 
  // Insert the transformed PathData into the simulator display.
  auto* ptr_display_path_1 =
      reference_line_info->mutable_debug()->mutable_planning_data()->add_path();
  ptr_display_path_1->set_name(std::string("planning_path_boundary_1_") +
                               debug_name);
  ptr_display_path_1->mutable_path_point()->CopyFrom(
      {left_path_data.discretized_path().begin(),
       left_path_data.discretized_path().end()});
  auto* ptr_display_path_2 =
      reference_line_info->mutable_debug()->mutable_planning_data()->add_path();
  ptr_display_path_2->set_name(std::string("planning_path_boundary_2_") +
                               debug_name);
  ptr_display_path_2->mutable_path_point()->CopyFrom(
      {right_path_data.discretized_path().begin(),
       right_path_data.discretized_path().end()});
}

◆ RecordDebugInfo() [2/2]

void apollo::planning::PathGeneration::RecordDebugInfo	(	const PathData &	path_data,
		const std::string &	debug_name,
		ReferenceLineInfo *const	reference_line_info
	)

protected

add path debug info for PnC monitor

在文件 path_generation.cc 第 97 行定义.

                                                  {
  const auto& path_points = path_data.discretized_path();
  auto* ptr_optimized_path =
      reference_line_info->mutable_debug()->mutable_planning_data()->add_path();
  ptr_optimized_path->set_name(std::string("candidate_path_") + debug_name);
  ptr_optimized_path->mutable_path_point()->CopyFrom(
      {path_points.begin(), path_points.end()});
}

类成员变量说明

◆ init_sl_state_

SLState apollo::planning::PathGeneration::init_sl_state_

protected

在文件 path_generation.h 第 81 行定义.

◆ obs_sl_polygons_

std::vector<SLPolygon> apollo::planning::PathGeneration::obs_sl_polygons_

protected

在文件 path_generation.h 第 82 行定义.

该类的文档由以下文件生成:

modules/planning/planning_interface_base/task_base/common/path_generation.h
modules/planning/planning_interface_base/task_base/common/path_generation.cc

Public 成员函数

Protected 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ ~PathGeneration()

成员函数说明

◆ Execute() [1/2]

◆ Execute() [2/2]

◆ GetSLBoundary()

◆ GetStartPointSLState()

◆ Process() [1/2]

◆ Process() [2/2]

◆ RecordDebugInfo() [1/2]

◆ RecordDebugInfo() [2/2]

类成员变量说明

◆ init_sl_state_

◆ obs_sl_polygons_