apollo::planning::PublicRoadPlanner类 参考

PublicRoadPlanner is an expectation maximization planner. 更多...

#include <public_road_planner.h>

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

apollo::planning::PublicRoadPlanner 的协作图:

Public 成员函数
virtual	~PublicRoadPlanner ()=default
	Destructor
void	Stop () override
std::string	Name () override
common::Status	Init (const std::shared_ptr< DependencyInjector > &injector, const std::string &config_path="") override
common::Status	Plan (const common::TrajectoryPoint &planning_init_point, Frame *frame, ADCTrajectory *ptr_computed_trajectory) override
	Override function Plan in parent class Planner.
void	Reset (Frame *frame) override
Public 成员函数 继承自 apollo::planning::PlannerWithReferenceLine
virtual	~PlannerWithReferenceLine ()=default
	Destructor
virtual apollo::common::Status	PlanOnReferenceLine (const common::TrajectoryPoint &planning_init_point, Frame *frame, ReferenceLineInfo *reference_line_info)
	Compute a trajectory for execution.
Public 成员函数 继承自 apollo::planning::Planner
virtual	~Planner ()=default
	Destructor
template<typename T >
bool	LoadConfig (const std::string &custom_config_path, T *config)

额外继承的成员函数
Protected 属性 继承自 apollo::planning::Planner
std::shared_ptr< DependencyInjector >	injector_ = nullptr

详细描述

PublicRoadPlanner is an expectation maximization planner.

在文件 public_road_planner.h 第 48 行定义.

构造及析构函数说明

~PublicRoadPlanner()

virtual apollo::planning::PublicRoadPlanner::~PublicRoadPlanner ( )

virtualdefault

Destructor

成员函数说明

Init()

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

overridevirtual

重载 apollo::planning::Planner .

在文件 public_road_planner.cc 第 28 行定义.

                                  {
  Planner::Init(injector, config_path);
  LoadConfig<PlannerPublicRoadConfig>(config_path, &config_);
  scenario_manager_.Init(injector, config_);
  return Status::OK();
}

Name()

std::string apollo::planning::PublicRoadPlanner::Name ( )

inlineoverridevirtual

实现了 apollo::planning::Planner.

在文件 public_road_planner.h 第 57 行定义.

{ return "PUBLIC_ROAD"; }

Plan()

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

overridevirtual

Override function Plan in parent class Planner.

参数

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

返回

OK if planning succeeds; error otherwise.

实现了 apollo::planning::Planner.

在文件 public_road_planner.cc 第 37 行定义.

                                                                       {
  scenario_manager_.Update(planning_start_point, frame);
  scenario_ = scenario_manager_.mutable_scenario();
  if (!scenario_) {
    return Status(apollo::common::ErrorCode::PLANNING_ERROR,
                  "Unknown Scenario");
  }
  auto result = scenario_->Process(planning_start_point, frame);
 
  if (FLAGS_enable_record_debug) {
    auto scenario_debug = ptr_computed_trajectory->mutable_debug()
                              ->mutable_planning_data()
                              ->mutable_scenario();
    scenario_debug->set_scenario_plugin_type(scenario_->Name());
    scenario_debug->set_stage_plugin_type(scenario_->GetStage());
    scenario_debug->set_msg(scenario_->GetMsg());
  }
 
  if (result.GetScenarioStatus() == ScenarioStatusType::STATUS_DONE) {
    // only updates scenario manager when previous scenario's status is
    // STATUS_DONE
    scenario_manager_.Update(planning_start_point, frame);
  } else if (result.GetScenarioStatus() == ScenarioStatusType::STATUS_UNKNOWN) {
    return Status(common::PLANNING_ERROR,
                  result.GetTaskStatus().error_message());
  }
  return Status(common::OK, result.GetTaskStatus().error_message());
}

Reset()

void apollo::planning::PublicRoadPlanner::Reset ( Frame *  frame )

inlineoverridevirtual

重载 apollo::planning::Planner .

在文件 public_road_planner.h 第 72 行定义.

{ scenario_manager_.Reset(frame); }

Stop()

void apollo::planning::PublicRoadPlanner::Stop ( )

inlineoverridevirtual

实现了 apollo::planning::Planner.

在文件 public_road_planner.h 第 55 行定义.

{}

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该类的文档由以下文件生成:

• modules/planning/planners/public_road/public_road_planner.h
• modules/planning/planners/public_road/public_road_planner.cc