apollo::planning::PncMapBase类 参考

#include <pnc_map_base.h>

类 apollo::planning::PncMapBase 继承关系图:

apollo::planning::PncMapBase 的协作图:

Public 成员函数
virtual	~PncMapBase ()=default
virtual bool	CanProcess (const planning::PlanningCommand &command) const =0
virtual bool	UpdatePlanningCommand (const planning::PlanningCommand &command)
virtual bool	GetRouteSegments (const common::VehicleState &vehicle_state, std::list< apollo::hdmap::RouteSegments > *const route_segments)=0
	use heuristic forward length and backward length
bool	IsNewPlanningCommand (const planning::PlanningCommand &command) const
	Check if the routing is the same as existing one in Map
virtual bool	ExtendSegments (const apollo::hdmap::RouteSegments &segments, double start_s, double end_s, apollo::hdmap::RouteSegments *const truncated_segments) const =0
virtual std::vector< routing::LaneWaypoint >	FutureRouteWaypoints () const =0
virtual void	GetEndLaneWayPoint (std::shared_ptr< routing::LaneWaypoint > &end_point) const =0
	Get the end point of PlanningCommand.
virtual hdmap::LaneInfoConstPtr	GetLaneById (const hdmap::Id &id) const =0
	Get the Lane with the given id.
virtual bool	GetNearestPointFromRouting (const common::VehicleState &state, apollo::hdmap::LaneWaypoint *waypoint) const =0
virtual double	GetDistanceToDestination () const =0
virtual apollo::hdmap::LaneWaypoint	GetAdcWaypoint () const =0

静态 Public 成员函数
static double	LookForwardDistance (const double velocity)
static bool	IsNewPlanningCommand (const planning::PlanningCommand &prev_command, const planning::PlanningCommand &new_command)

Protected 属性
planning::PlanningCommand	last_command_
apollo::hdmap::LaneWaypoint	adc_waypoint_
	The waypoint of the autonomous driving car

详细描述

在文件 pnc_map_base.h 第 47 行定义.

构造及析构函数说明

~PncMapBase()

virtual apollo::planning::PncMapBase::~PncMapBase ( )

virtualdefault

成员函数说明

CanProcess()

virtual bool apollo::planning::PncMapBase::CanProcess ( const planning::PlanningCommand &  command ) const

pure virtual

在 apollo::planning::LaneFollowMap 内被实现.

ExtendSegments()

virtual bool apollo::planning::PncMapBase::ExtendSegments ( const apollo::hdmap::RouteSegments &  segments, double  start_s, double  end_s, apollo::hdmap::RouteSegments *const  truncated_segments  ) const

pure virtual

在 apollo::planning::LaneFollowMap 内被实现.

FutureRouteWaypoints()

virtual std::vector< routing::LaneWaypoint > apollo::planning::PncMapBase::FutureRouteWaypoints ( ) const

pure virtual

在 apollo::planning::LaneFollowMap 内被实现.

GetAdcWaypoint()

virtual apollo::hdmap::LaneWaypoint apollo::planning::PncMapBase::GetAdcWaypoint ( ) const

pure virtual

在 apollo::planning::LaneFollowMap 内被实现.

GetDistanceToDestination()

virtual double apollo::planning::PncMapBase::GetDistanceToDestination ( ) const

pure virtual

在 apollo::planning::LaneFollowMap 内被实现.

GetEndLaneWayPoint()

virtual void apollo::planning::PncMapBase::GetEndLaneWayPoint ( std::shared_ptr< routing::LaneWaypoint > &  end_point ) const

pure virtual

Get the end point of PlanningCommand.

参数

end_point

The end point of PlanningCommand.

在 apollo::planning::LaneFollowMap 内被实现.

GetLaneById()

virtual hdmap::LaneInfoConstPtr apollo::planning::PncMapBase::GetLaneById ( const hdmap::Id &  id ) const

pure virtual

Get the Lane with the given id.

参数

id	The id of the lane.

在 apollo::planning::LaneFollowMap 内被实现.

GetNearestPointFromRouting()

virtual bool apollo::planning::PncMapBase::GetNearestPointFromRouting ( const common::VehicleState &  state, apollo::hdmap::LaneWaypoint *  waypoint  ) const

pure virtual

在 apollo::planning::LaneFollowMap 内被实现.

GetRouteSegments()

virtual bool apollo::planning::PncMapBase::GetRouteSegments ( const common::VehicleState &  vehicle_state, std::list< apollo::hdmap::RouteSegments > *const  route_segments  )

pure virtual

use heuristic forward length and backward length

在 apollo::planning::LaneFollowMap 内被实现.

IsNewPlanningCommand() [1/2]

bool apollo::planning::PncMapBase::IsNewPlanningCommand

(

const planning::PlanningCommand &

command

)

const

Check if the routing is the same as existing one in Map

在文件 pnc_map_base.cc 第 57 行定义.

                                                  {
  return IsNewPlanningCommand(last_command_, command);
}

IsNewPlanningCommand() [2/2]

bool apollo::planning::PncMapBase::IsNewPlanningCommand ( const planning::PlanningCommand &  prev_command, const planning::PlanningCommand &  new_command  )

static

在文件 pnc_map_base.cc 第 62 行定义.

                                                {
  if (!new_command.is_motion_command()) {
    return false;
  }
  return !common::util::IsProtoEqual(prev_command, new_command);
}

LookForwardDistance()

double apollo::planning::PncMapBase::LookForwardDistance ( const double  velocity )

static

在文件 pnc_map_base.cc 第 49 行定义.

                                                            {
  auto forward_distance = velocity * FLAGS_look_forward_time_sec;
 
  return forward_distance > FLAGS_look_forward_short_distance
             ? FLAGS_look_forward_long_distance
             : FLAGS_look_forward_short_distance;
}

UpdatePlanningCommand()

bool apollo::planning::PncMapBase::UpdatePlanningCommand ( const planning::PlanningCommand &  command )

virtual

被 apollo::planning::LaneFollowMap 重载.

在文件 pnc_map_base.cc 第 39 行定义.

                                            {
  if (!IsValid(command)) {
    AERROR << "Input command is not valid!" << command.DebugString();
    return false;
  }
  last_command_ = command;
  return true;
}

类成员变量说明

adc_waypoint_

apollo::hdmap::LaneWaypoint apollo::planning::PncMapBase::adc_waypoint_

protected

The waypoint of the autonomous driving car

在文件 pnc_map_base.h 第 102 行定义.

last_command_

planning::PlanningCommand apollo::planning::PncMapBase::last_command_

protected

在文件 pnc_map_base.h 第 98 行定义.

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该类的文档由以下文件生成:

• modules/map/pnc_map/pnc_map_base.h
• modules/map/pnc_map/pnc_map_base.cc