apollo::planning::STBoundaryMapper类 参考

#include <st_boundary_mapper.h>

apollo::planning::STBoundaryMapper 的协作图:

Public 成员函数
	STBoundaryMapper (const SpeedBoundsDeciderConfig &config, const ReferenceLine &reference_line, const PathData &path_data, const double planning_distance, const double planning_time, const std::shared_ptr< DependencyInjector > &injector)
virtual	~STBoundaryMapper ()=default
common::Status	ComputeSTBoundary (PathDecision *path_decision) const

详细描述

在文件 st_boundary_mapper.h 第 41 行定义.

构造及析构函数说明

STBoundaryMapper()

apollo::planning::STBoundaryMapper::STBoundaryMapper	(	const SpeedBoundsDeciderConfig &	config,
		const ReferenceLine &	reference_line,
		const PathData &	path_data,
		const double	planning_distance,
		const double	planning_time,
		const std::shared_ptr< DependencyInjector > &	injector
	)

在文件 st_boundary_mapper.cc 第 52 行定义.

    : speed_bounds_config_(config),
      reference_line_(reference_line),
      path_data_(path_data),
      vehicle_param_(common::VehicleConfigHelper::GetConfig().vehicle_param()),
      planning_max_distance_(planning_distance),
      planning_max_time_(planning_time),
      injector_(injector) {}

~STBoundaryMapper()

virtual apollo::planning::STBoundaryMapper::~STBoundaryMapper ( )

virtualdefault

成员函数说明

ComputeSTBoundary()

Status apollo::planning::STBoundaryMapper::ComputeSTBoundary

(

PathDecision *

path_decision

)

const

在文件 st_boundary_mapper.cc 第 65 行定义.

                                                                            {
  // Sanity checks.
  CHECK_GT(planning_max_time_, 0.0);
  if (path_data_.discretized_path().size() < 2) {
    AERROR << "Fail to get params because of too few path points. path points "
              "size: "
           << path_data_.discretized_path().size() << ".";
    return Status(ErrorCode::PLANNING_ERROR,
                  "Fail to get params because of too few path points");
  }
 
  // Go through every obstacle.
  Obstacle* stop_obstacle = nullptr;
  ObjectDecisionType stop_decision;
  double min_stop_s = std::numeric_limits<double>::max();
  for (const auto* ptr_obstacle_item : path_decision->obstacles().Items()) {
    Obstacle* ptr_obstacle = path_decision->Find(ptr_obstacle_item->Id());
    ACHECK(ptr_obstacle != nullptr);
 
    // If no longitudinal decision has been made, then plot it onto ST-graph.
    if (!ptr_obstacle->HasLongitudinalDecision()) {
      ComputeSTBoundary(ptr_obstacle);
      continue;
    }
 
    // If there is a longitudinal decision, then fine-tune boundary.
    const auto& decision = ptr_obstacle->LongitudinalDecision();
    if (decision.has_stop()) {
      // 1. Store the closest stop fence info.
      // TODO(all): store ref. s value in stop decision; refine the code then.
      common::SLPoint stop_sl_point;
      reference_line_.XYToSL(decision.stop().stop_point(), &stop_sl_point);
      const double stop_s = stop_sl_point.s();
 
      if (stop_s < min_stop_s) {
        stop_obstacle = ptr_obstacle;
        min_stop_s = stop_s;
        stop_decision = decision;
      }
    } else if (decision.has_follow() || decision.has_overtake() ||
               decision.has_yield()) {
      // 2. Depending on the longitudinal overtake/yield decision,
      //    fine-tune the upper/lower st-boundary of related obstacles.
      ComputeSTBoundaryWithDecision(ptr_obstacle, decision);
    } else if (!decision.has_ignore()) {
      // 3. Ignore those unrelated obstacles.
      AWARN << "No mapping for decision: " << decision.DebugString();
    }
  }
  if (stop_obstacle) {
    bool success = MapStopDecision(stop_obstacle, stop_decision);
    if (!success) {
      const std::string msg = "Fail to MapStopDecision.";
      AERROR << msg;
      return Status(ErrorCode::PLANNING_ERROR, msg);
    }
  }
 
  return Status::OK();
}

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该类的文档由以下文件生成:

• modules/planning/tasks/speed_bounds_decider/st_boundary_mapper.h
• modules/planning/tasks/speed_bounds_decider/st_boundary_mapper.cc