apollo::planning::SpeedDecider类 参考

#include <speed_decider.h>

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

apollo::planning::SpeedDecider 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
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 speed_decider.h 第 39 行定义.

成员函数说明

Execute()

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

overridevirtual

重载 apollo::planning::Task .

在文件 speed_decider.cc 第 68 行定义.

                                                                             {
  Task::Execute(frame, reference_line_info);
  init_point_ = frame_->PlanningStartPoint();
  adc_sl_boundary_ = reference_line_info_->AdcSlBoundary();
  reference_line_ = &reference_line_info_->reference_line();
  if (!MakeObjectDecision(reference_line_info->speed_data(),
                          reference_line_info->path_decision())
           .ok()) {
    const std::string msg = "Get object decision by speed profile failed.";
    AERROR << msg;
    return Status(ErrorCode::PLANNING_ERROR, msg);
  }
  return Status::OK();
}

Init()

bool apollo::planning::SpeedDecider::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 speed_decider.cc 第 47 行定义.

                                                                           {
  if (!Task::Init(config_dir, name, injector)) {
    return false;
  }
  // Load the config this task.
  if (!Task::LoadConfig<SpeedDeciderConfig>(&config_)) {
    return false;
  }
  for (const auto& follow_function :
       config_.follow_distance_scheduler().follow_distance()) {
    follow_distance_function_.emplace_back(
        std::make_pair(follow_function.speed(), follow_function.slope()));
  }
  std::sort(follow_distance_function_.begin(), follow_distance_function_.end());
  for (const auto& iter : follow_distance_function_) {
    AINFO << "speed: " << iter.first << ", slope: " << iter.second;
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/planning/tasks/speed_decider/speed_decider.h
• modules/planning/tasks/speed_decider/speed_decider.cc