apollo::planning::PreciseParkingScenario类 参考

#include <precise_parking_scenario.h>

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

apollo::planning::PreciseParkingScenario 的协作图:

Public 成员函数
bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override
PreciseParkingContext *	GetContext () override
	Get the scenario context.
bool	IsTransferable (const Scenario *const other_scenario, const Frame &frame) override
	Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.
Public 成员函数 继承自 apollo::planning::Scenario
	Scenario ()
virtual	~Scenario ()=default
virtual ScenarioResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)
virtual bool	Exit (Frame *frame)
virtual bool	Enter (Frame *frame)
std::shared_ptr< Stage >	CreateStage (const StagePipeline &stage_pipeline)
	Each scenario should define its own stages object's creation scenario will call stage's Stage::Process function following a configured order, The return value of Stage::Process function determines the transition from one stage to another.
const ScenarioStatusType &	GetStatus () const
const std::string	GetStage () const
const std::string &	GetMsg () const
const std::string &	Name () const
void	Reset ()
	Reset the scenario, used before entering the scenario.

额外继承的成员函数
Protected 成员函数 继承自 apollo::planning::Scenario
template<typename T >
bool	LoadConfig (T *config)
Protected 属性 继承自 apollo::planning::Scenario
ScenarioResult	scenario_result_
std::shared_ptr< Stage >	current_stage_
std::unordered_map< std::string, const StagePipeline * >	stage_pipeline_map_
std::string	msg_
std::shared_ptr< DependencyInjector >	injector_
std::string	config_path_
std::string	config_dir_
std::string	name_
ScenarioPipeline	scenario_pipeline_config_

详细描述

在文件 precise_parking_scenario.h 第 39 行定义.

成员函数说明

GetContext()

PreciseParkingContext * apollo::planning::PreciseParkingScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 precise_parking_scenario.h 第 46 行定义.

                                                 {
        return &context_;
    }

Init()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 precise_parking_scenario.cc 第 32 行定义.

                                                                                                   {
    if (!Scenario::Init(injector, name)) {
        AERROR << "failed to init scenario" << Name();
        return false;
    }
 
    if (!Scenario::LoadConfig<ScenarioPreciseParkingConfig>(&context_.scenario_config)) {
        AERROR << "fail to get config of scenario" << Name();
        return false;
    }
    return true;
}

IsTransferable()

bool apollo::planning::PreciseParkingScenario::IsTransferable ( const Scenario *const  other_scenario, const Frame &  frame  )

overridevirtual

Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

重载 apollo::planning::Scenario .

在文件 precise_parking_scenario.cc 第 45 行定义.

                                                                                                    {
    const auto& planning_command = frame.local_view().planning_command;
    if (!planning_command->has_custom_command()) {
        return false;
    }
    if (!planning_command->custom_command().Is<PreciseParkingCommand>()) {
        return false;
    }
    context_.precise_parking_command.Clear();
    if (!planning_command->custom_command().UnpackTo(&context_.precise_parking_command)) {
        AERROR << "Precise Parking Command unpack error" << planning_command->DebugString();
        return false;
    }
    return true;
}  // namespace planning

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该类的文档由以下文件生成:

• modules/planning/scenarios/precise_parking/precise_parking_scenario.h
• modules/planning/scenarios/precise_parking/precise_parking_scenario.cc