apollo::planning::PlanningBase类 参考

#include <planning_base.h>

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

apollo::planning::PlanningBase 的协作图:

Public 成员函数
	PlanningBase ()=delete
	PlanningBase (const std::shared_ptr< DependencyInjector > &injector)
virtual	~PlanningBase ()
virtual apollo::common::Status	Init (const PlanningConfig &config)
virtual std::string	Name () const =0
virtual void	RunOnce (const LocalView &local_view, ADCTrajectory *const adc_trajectory)=0
virtual apollo::common::Status	Plan (const double current_time_stamp, const std::vector< common::TrajectoryPoint > &stitching_trajectory, ADCTrajectory *const trajectory)=0
	Plan the trajectory given current vehicle state
bool	IsPlanningFinished (const ADCTrajectory::TrajectoryType &current_trajectory_type) const
	Check if vehicle reaches the end point of the RoutingRequest.
bool	GenerateWidthOfLane (const Vec2d &current_location, Vec2d &left_point, Vec2d &right_point)

Protected 成员函数
virtual void	FillPlanningPb (const double timestamp, ADCTrajectory *const trajectory_pb)
void	LoadPlanner ()

Protected 属性
LocalView	local_view_
const hdmap::HDMap *	hdmap_ = nullptr
double	start_time_ = 0.0
size_t	seq_num_ = 0
PlanningConfig	config_
TrafficDecider	traffic_decider_
std::unique_ptr< Frame >	frame_
std::shared_ptr< Planner >	planner_
std::unique_ptr< PublishableTrajectory >	last_publishable_trajectory_
std::shared_ptr< DependencyInjector >	injector_

详细描述

在文件 planning_base.h 第 58 行定义.

构造及析构函数说明

PlanningBase() [1/2]

apollo::planning::PlanningBase::PlanningBase ( )

delete

PlanningBase() [2/2]

apollo::planning::PlanningBase::PlanningBase ( const std::shared_ptr< DependencyInjector > &  injector )

explicit

在文件 planning_base.cc 第 39 行定义.

    : injector_(injector) {}

~PlanningBase()

apollo::planning::PlanningBase::~PlanningBase ( )

virtual

在文件 planning_base.cc 第 42 行定义.

{}

成员函数说明

FillPlanningPb()

void apollo::planning::PlanningBase::FillPlanningPb ( const double  timestamp, ADCTrajectory *const  trajectory_pb  )

protectedvirtual

在文件 planning_base.cc 第 98 行定义.

                                                                      {
  trajectory_pb->mutable_header()->set_timestamp_sec(timestamp);
  if (local_view_.prediction_obstacles->has_header()) {
    trajectory_pb->mutable_header()->set_lidar_timestamp(
        local_view_.prediction_obstacles->header().lidar_timestamp());
    trajectory_pb->mutable_header()->set_camera_timestamp(
        local_view_.prediction_obstacles->header().camera_timestamp());
    trajectory_pb->mutable_header()->set_radar_timestamp(
        local_view_.prediction_obstacles->header().radar_timestamp());
  }
  trajectory_pb->mutable_routing_header()->CopyFrom(
      local_view_.planning_command->header());
}

GenerateWidthOfLane()

bool apollo::planning::PlanningBase::GenerateWidthOfLane	(	const Vec2d &	current_location,
		Vec2d &	left_point,
		Vec2d &	right_point
	)

在文件 planning_base.cc 第 125 行定义.

                                                                              {
  double left_width = 0, right_width = 0;
  const auto frame = injector_->frame_history()->Latest();
  if (nullptr == frame || frame->reference_line_info().empty()) {
    AINFO << "Reference lane is empty!";
    return false;
  }
  const auto& reference_line_info = frame->reference_line_info().front();
  // get current SL
  common::SLPoint current_sl;
  reference_line_info.reference_line().XYToSL(current_location, &current_sl);
  // Get the lane width of vehicle location
  bool get_width_of_lane = reference_line_info.reference_line().GetLaneWidth(
      current_sl.s(), &left_width, &right_width);
  AINFO << "get_width_of_lane: " << get_width_of_lane
        << ", left_width: " << left_width << ", right_width: " << right_width;
  if (get_width_of_lane && left_width != 0 && right_width != 0) {
    AINFO << "Get the width of lane successfully!";
    SLPoint sl_left_point, sl_right_point;
    sl_left_point.set_s(current_sl.s());
    sl_left_point.set_l(left_width);
    sl_right_point.set_s(current_sl.s());
    sl_right_point.set_l(-right_width);
    reference_line_info.reference_line().SLToXY(sl_left_point, &left_point);
    reference_line_info.reference_line().SLToXY(sl_right_point, &right_point);
    return true;
  } else {
    AINFO << "Failed to get the width of lane!";
    return false;
  }
}

Init()

Status apollo::planning::PlanningBase::Init ( const PlanningConfig &  config )

virtual

被 apollo::planning::NaviPlanning , 以及 apollo::planning::OnLanePlanning 重载.

在文件 planning_base.cc 第 44 行定义.

                                                      {
  injector_->planning_context()->Init();
  config_ = config;
  return Status::OK();
}

IsPlanningFinished()

bool apollo::planning::PlanningBase::IsPlanningFinished

(

const ADCTrajectory::TrajectoryType &

current_trajectory_type

)

const

Check if vehicle reaches the end point of the RoutingRequest.

返回

True if vehicle reaches the end point.

在文件 planning_base.cc 第 50 行定义.

                                                                      {
  const auto frame = injector_->frame_history()->Latest();
  if (current_trajectory_type == apollo::planning::ADCTrajectory::OPEN_SPACE) {
    AINFO << "Current trajectory type is: OPEN SPACE";
    if (frame->open_space_info().openspace_planning_finish()) {
      AINFO << "OPEN SPACE: planning finished";
      return true;
    } else {
      AINFO << "OPEN SPACE: planning not finished";
      return false;
    }
  } else {
    // const auto frame = injector_->frame_history()->Latest();
    if (nullptr == frame || frame->reference_line_info().empty() ||
        nullptr == local_view_.planning_command) {
      AINFO << "Current reference point is empty;";
      return true;
    }
    const auto& reference_line_info = frame->reference_line_info().front();
    // Check if the ReferenceLineInfo is the last passage.
    const auto& reference_points =
        reference_line_info.reference_line().reference_points();
    if (reference_points.empty()) {
      AINFO << "Current reference points is empty;";
      return true;
    }
    const auto& last_reference_point = reference_points.back();
    const std::vector<hdmap::LaneWaypoint>& lane_way_points =
        last_reference_point.lane_waypoints();
    if (lane_way_points.empty()) {
      AINFO << "Last reference point is empty;";
      return true;
    }
    // Get the end lane way point.
    if (nullptr == frame->local_view().end_lane_way_point) {
      AINFO << "Current end lane way is empty;";
      return true;
    }
    bool is_has_passed_destination = injector_->planning_context()
                                         ->planning_status()
                                         .destination()
                                         .has_passed_destination();
    AINFO << "Current passed destination:" << is_has_passed_destination;
    return is_has_passed_destination;
  }
}

LoadPlanner()

void apollo::planning::PlanningBase::LoadPlanner ( )

protected

在文件 planning_base.cc 第 113 行定义.

                               {
  // Use PublicRoadPlanner as default Planner
  std::string planner_name = "apollo::planning::PublicRoadPlanner";
  if ("" != config_.planner()) {
    planner_name = config_.planner();
    planner_name = ConfigUtil::GetFullPlanningClassName(planner_name);
  }
  planner_ =
      cyber::plugin_manager::PluginManager::Instance()->CreateInstance<Planner>(
          planner_name);
}

Name()

virtual std::string apollo::planning::PlanningBase::Name ( ) const

pure virtual

在 apollo::planning::NaviPlanning , 以及 apollo::planning::OnLanePlanning 内被实现.

Plan()

virtual apollo::common::Status apollo::planning::PlanningBase::Plan ( const double  current_time_stamp, const std::vector< common::TrajectoryPoint > &  stitching_trajectory, ADCTrajectory *const  trajectory  )

pure virtual

Plan the trajectory given current vehicle state

在 apollo::planning::NaviPlanning , 以及 apollo::planning::OnLanePlanning 内被实现.

RunOnce()

virtual void apollo::planning::PlanningBase::RunOnce ( const LocalView &  local_view, ADCTrajectory *const  adc_trajectory  )

pure virtual

在 apollo::planning::OnLanePlanning , 以及 apollo::planning::NaviPlanning 内被实现.

类成员变量说明

config_

PlanningConfig apollo::planning::PlanningBase::config_

protected

在文件 planning_base.h 第 104 行定义.

frame_

std::unique_ptr<Frame> apollo::planning::PlanningBase::frame_

protected

在文件 planning_base.h 第 106 行定义.

hdmap_

const hdmap::HDMap* apollo::planning::PlanningBase::hdmap_ = nullptr

protected

在文件 planning_base.h 第 99 行定义.

injector_

std::shared_ptr<DependencyInjector> apollo::planning::PlanningBase::injector_

protected

在文件 planning_base.h 第 109 行定义.

last_publishable_trajectory_

std::unique_ptr<PublishableTrajectory> apollo::planning::PlanningBase::last_publishable_trajectory_

protected

在文件 planning_base.h 第 108 行定义.

local_view_

LocalView apollo::planning::PlanningBase::local_view_

protected

在文件 planning_base.h 第 98 行定义.

planner_

std::shared_ptr<Planner> apollo::planning::PlanningBase::planner_

protected

在文件 planning_base.h 第 107 行定义.

seq_num_

size_t apollo::planning::PlanningBase::seq_num_ = 0

protected

在文件 planning_base.h 第 102 行定义.

start_time_

double apollo::planning::PlanningBase::start_time_ = 0.0

protected

在文件 planning_base.h 第 101 行定义.

traffic_decider_

TrafficDecider apollo::planning::PlanningBase::traffic_decider_

protected

在文件 planning_base.h 第 105 行定义.

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该类的文档由以下文件生成:

• modules/planning/planning_component/planning_base.h
• modules/planning/planning_component/planning_base.cc