apollo::planning::Planner类 参考

Planner is a base class for specific planners. 更多...

#include <planner.h>

类 apollo::planning::Planner 继承关系图:

apollo::planning::Planner 的协作图:

Public 成员函数
virtual	~Planner ()=default
	Destructor
virtual std::string	Name ()=0
virtual apollo::common::Status	Init (const std::shared_ptr< DependencyInjector > &injector, const std::string &config_path="")
virtual apollo::common::Status	Plan (const common::TrajectoryPoint &planning_init_point, Frame *frame, ADCTrajectory *ptr_computed_trajectory)=0
	Compute trajectories for execution.
virtual void	Stop ()=0
virtual void	Reset (Frame *frame)
template<typename T >
bool	LoadConfig (const std::string &custom_config_path, T *config)

Protected 属性
std::shared_ptr< DependencyInjector >	injector_ = nullptr

详细描述

Planner is a base class for specific planners.

It contains a pure virtual function Plan which must be implemented in derived class.

在文件 planner.h 第 45 行定义.

构造及析构函数说明

~Planner()

virtual apollo::planning::Planner::~Planner ( )

virtualdefault

Destructor

成员函数说明

Init()

virtual apollo::common::Status apollo::planning::Planner::Init ( const std::shared_ptr< DependencyInjector > &  injector, const std::string &  config_path = ""  )

inlinevirtual

被 apollo::planning::LatticePlanner, apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner , 以及 apollo::planning::RTKReplayPlanner 重载.

在文件 planner.h 第 54 行定义.

                                         {
    injector_ = injector;
    return common::Status::OK();
  }

LoadConfig()

template<typename T >

bool apollo::planning::Planner::LoadConfig	(	const std::string &	custom_config_path,
		T *	config
	)

在文件 planner.h 第 83 行定义.

                                                                       {
  std::string config_path = custom_config_path;
  // Get the default config file if "custom_config_path" is empty.
  if ("" == config_path) {
    int status;
    // Get the name of this class.
    std::string class_name =
        abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
    config_path = apollo::cyber::plugin_manager::PluginManager::Instance()
                      ->GetPluginConfPath<Planner>(
                          class_name, "conf/planner_config.pb.txt");
  }
  return apollo::cyber::common::LoadConfig<T>(config_path, config);
}

Name()

virtual std::string apollo::planning::Planner::Name ( )

pure virtual

在 apollo::planning::LatticePlanner, apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner , 以及 apollo::planning::RTKReplayPlanner 内被实现.

Plan()

virtual apollo::common::Status apollo::planning::Planner::Plan ( const common::TrajectoryPoint &  planning_init_point, Frame *  frame, ADCTrajectory *  ptr_computed_trajectory  )

pure virtual

Compute trajectories for execution.

参数

planning_init_point	The trajectory point where planning starts.
frame	Current planning frame.

返回

OK if planning succeeds; error otherwise.

在 apollo::planning::LatticePlanner, apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner , 以及 apollo::planning::RTKReplayPlanner 内被实现.

Reset()

virtual void apollo::planning::Planner::Reset ( Frame *  frame )

inlinevirtual

被 apollo::planning::PublicRoadPlanner 重载.

在文件 planner.h 第 73 行定义.

{}

Stop()

virtual void apollo::planning::Planner::Stop ( )

pure virtual

在 apollo::planning::LatticePlanner, apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner , 以及 apollo::planning::RTKReplayPlanner 内被实现.

类成员变量说明

injector_

std::shared_ptr<DependencyInjector> apollo::planning::Planner::injector_ = nullptr

protected

在文件 planner.h 第 79 行定义.

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该类的文档由以下文件生成:

• modules/planning/planning_interface_base/planner_base/planner.h