This class decides whether we should send rerouting request based on traffic situation. 更多...

#include <reference_line_end.h>

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

apollo::planning::ReferenceLineEnd 的协作图:

Public 成员函数
bool	Init (const std::string &name, const std::shared_ptr< DependencyInjector > &injector) override

virtual	~ReferenceLineEnd ()=default

common::Status	ApplyRule (Frame const frame, ReferenceLineInfo const reference_line_info)

void	Reset () override

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

virtual	~TrafficRule ()=default

std::string	Getname ()

额外继承的成员函数
Protected 成员函数继承自 apollo::planning::TrafficRule
template<typename T >
bool	LoadConfig (T *config)

Protected 属性继承自 apollo::planning::TrafficRule
std::shared_ptr< DependencyInjector >	injector_

std::string	config_path_

std::string	name_

详细描述

This class decides whether we should send rerouting request based on traffic situation.

在文件 reference_line_end.h 第 36 行定义.

构造及析构函数说明

◆ ~ReferenceLineEnd()

virtual apollo::planning::ReferenceLineEnd::~ReferenceLineEnd ( )

virtualdefault

成员函数说明

◆ ApplyRule()

Status apollo::planning::ReferenceLineEnd::ApplyRule	(	Frame *const	frame,
		ReferenceLineInfo *const	reference_line_info
	)

virtual

实现了 apollo::planning::TrafficRule.

在文件 reference_line_end.cc 第 44 行定义.

                                                                {
  const auto& reference_line = reference_line_info->reference_line();
 
  ADEBUG << "ReferenceLineEnd length[" << reference_line.Length() << "]";
  for (const auto& segment : reference_line_info->Lanes()) {
    ADEBUG << "   lane[" << segment.lane->lane().id().id() << "]";
  }
  // check
  double remain_s =
      reference_line.Length() - reference_line_info->AdcSlBoundary().end_s();
  if (remain_s > config_.min_reference_line_remain_length()) {
    return Status::OK();
  }
 
  // create a virtual stop wall at the end of reference line to stop the adc
  std::string virtual_obstacle_id =
      REF_LINE_END_VO_ID_PREFIX + reference_line_info->Lanes().Id();
  double obstacle_start_s =
      reference_line.Length() - 2 * FLAGS_virtual_stop_wall_length;
  auto* obstacle = frame->CreateStopObstacle(
      reference_line_info, virtual_obstacle_id, obstacle_start_s);
  if (!obstacle) {
    return Status(common::PLANNING_ERROR,
                  "Failed to create reference line end obstacle");
  }
  Obstacle* stop_wall = reference_line_info->AddObstacle(obstacle);
  if (!stop_wall) {
    return Status(
        common::PLANNING_ERROR,
        "Failed to create path obstacle for reference line end obstacle");
  }
 
  // build stop decision
  const double stop_line_s = obstacle_start_s - config_.stop_distance();
  auto stop_point = reference_line.GetReferencePoint(stop_line_s);
 
  ObjectDecisionType stop;
  auto stop_decision = stop.mutable_stop();
  stop_decision->set_reason_code(StopReasonCode::STOP_REASON_DESTINATION);
  stop_decision->set_distance_s(-config_.stop_distance());
  stop_decision->set_stop_heading(stop_point.heading());
  stop_decision->mutable_stop_point()->set_x(stop_point.x());
  stop_decision->mutable_stop_point()->set_y(stop_point.y());
  stop_decision->mutable_stop_point()->set_z(0.0);
 
  auto* path_decision = reference_line_info->path_decision();
  path_decision->AddLongitudinalDecision(Getname(), stop_wall->Id(), stop);
 
  return Status::OK();
}

◆ Init()

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

overridevirtual

重载 apollo::planning::TrafficRule .

在文件 reference_line_end.cc 第 34 行定义.

                                                       {
  if (!TrafficRule::Init(name, injector)) {
    return false;
  }
  // Load the config this task.
  return TrafficRule::LoadConfig<ReferenceLineEndConfig>(&config_);
}

◆ Reset()

void apollo::planning::ReferenceLineEnd::Reset ( )

inlineoverridevirtual

实现了 apollo::planning::TrafficRule.

在文件 reference_line_end.h 第 43 行定义.

43{}

该类的文档由以下文件生成:

modules/planning/traffic_rules/reference_line_end/reference_line_end.h
modules/planning/traffic_rules/reference_line_end/reference_line_end.cc

Public 成员函数