#include <reverse_speed.h>

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

apollo::planning::ReverseSpeed 的协作图:

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

apollo::common::Status	Execute (Frame frame, ReferenceLineInfo reference_line_info) override

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

virtual	~Task ()=default

const std::string &	Name () const

virtual common::Status	Execute (Frame *frame)

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

Protected 属性继承自 apollo::planning::Task
Frame *	frame_

ReferenceLineInfo *	reference_line_info_

std::shared_ptr< DependencyInjector >	injector_

std::string	config_path_

std::string	default_config_path_

std::string	name_

详细描述

在文件 reverse_speed.h 第 34 行定义.

成员函数说明

◆ Execute()

Status apollo::planning::ReverseSpeed::Execute	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)

overridevirtual

重载 apollo::planning::Task .

在文件 reverse_speed.cc 第 52 行定义.

                                                                     {
  Task::Execute(frame, reference_line_info);
  std::vector<const STBoundary *> boundaries;
  const TrajectoryPoint init_point = frame->PlanningStartPoint();
  const auto &path_data = reference_line_info->path_data();
  GetSTboundaries(path_data.discretized_path(), frame, &boundaries);
  SpeedLimit speed_limit;
  speed_limit.AppendSpeedLimit(0, config_.speed_limit());
  speed_limit.AppendSpeedLimit(config_.total_time(), config_.speed_limit());
  StGraphData *st_graph_data = reference_line_info->mutable_st_graph_data();
  auto *debug = reference_line_info_->mutable_debug();
  auto *st_graph_debug = debug->mutable_planning_data()->add_st_graph();
  st_graph_data->LoadData(boundaries, 0.0, init_point, speed_limit,
                          config_.speed_limit(),
                          path_data.discretized_path().Length(),
                          config_.total_time(), st_graph_debug);
  return Status::OK();
}

◆ Init()

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

overridevirtual

重载 apollo::planning::Task .

在文件 reverse_speed.cc 第 43 行定义.

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

该类的文档由以下文件生成:

modules/planning/tasks/reverse_speed/reverse_speed.h
modules/planning/tasks/reverse_speed/reverse_speed.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

◆ Execute()

◆ Init()