#include <stage_retry_parking.h>

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

apollo::planning::PullOverStageRetryParking 的协作图:

Public 成员函数
StageResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame) override
	Each stage does its business logic inside Process function.

Public 成员函数继承自 apollo::planning::Stage
	Stage ()

virtual bool	Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)

virtual	~Stage ()=default

const std::string &	Name () const

template<typename T >
T *	GetContextAs () const

const std::string &	NextStage () const

额外继承的成员函数
Protected 成员函数继承自 apollo::planning::Stage
StageResult	ExecuteTaskOnReferenceLine (const common::TrajectoryPoint &planning_start_point, Frame *frame)

StageResult	ExecuteTaskOnReferenceLineForOnlineLearning (const common::TrajectoryPoint &planning_start_point, Frame *frame)

StageResult	ExecuteTaskOnOpenSpace (Frame *frame)

virtual StageResult	FinishScenario ()

void	RecordDebugInfo (ReferenceLineInfo *reference_line_info, const std::string &name, const double time_diff_ms)

Protected 属性继承自 apollo::planning::Stage
std::vector< std::shared_ptr< Task > >	task_list_

std::shared_ptr< Task >	fallback_task_

std::string	next_stage_

void *	context_

std::shared_ptr< DependencyInjector >	injector_

StagePipeline	pipeline_config_

详细描述

在文件 stage_retry_parking.h 第 29 行定义.

成员函数说明

◆ Process()

StageResult apollo::planning::PullOverStageRetryParking::Process	(	const common::TrajectoryPoint &	planning_init_point,
		Frame *	frame
	)

overridevirtual

Each stage does its business logic inside Process function.

If the stage want to transit to a different stage after finish, it should set the type of 'next_stage_'.

实现了 apollo::planning::Stage.

在文件 stage_retry_parking.cc 第 37 行定义.

                                                              {
  ADEBUG << "stage: RetryParking";
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(context_);
 
  // Open space planning doesn't use planning_init_point from upstream because
  // of different stitching strategy
  frame->mutable_open_space_info()->set_is_on_open_space_trajectory(true);
  StageResult result = ExecuteTaskOnOpenSpace(frame);
  if (result.HasError()) {
    AERROR << "PullOverStageRetryParking planning error";
    return result.SetStageStatus(StageStatusType::ERROR);
  }
 
  // set debug info in planning_data
  const auto& pull_over_status =
      injector_->planning_context()->planning_status().pull_over();
  auto* pull_over_debug = frame->mutable_open_space_info()
                              ->mutable_debug()
                              ->mutable_planning_data()
                              ->mutable_pull_over();
  pull_over_debug->mutable_position()->CopyFrom(pull_over_status.position());
  pull_over_debug->set_theta(pull_over_status.theta());
  pull_over_debug->set_length_front(pull_over_status.length_front());
  pull_over_debug->set_length_back(pull_over_status.length_back());
  pull_over_debug->set_width_left(pull_over_status.width_left());
  pull_over_debug->set_width_right(pull_over_status.width_right());
  frame->mutable_open_space_info()->sync_debug_instance();
 
  if (CheckADCPullOverOpenSpace()) {
    return FinishStage();
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}

该类的文档由以下文件生成:

modules/planning/scenarios/pull_over/stage_retry_parking.h
modules/planning/scenarios/pull_over/stage_retry_parking.cc

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ Process()