#include <speed_optimizer.h>

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

apollo::planning::SpeedOptimizer 的协作图:

Public 成员函数
virtual	~SpeedOptimizer ()=default

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

virtual common::Status	Execute (Frame *frame)

Protected 成员函数
virtual common::Status	Process (const PathData &path_data, const common::TrajectoryPoint &init_point, SpeedData *const speed_data)=0

void	RecordDebugInfo (const SpeedData &speed_data)

void	RecordDebugInfo (const SpeedData &speed_data, planning_internal::STGraphDebug *st_graph_debug)

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

额外继承的成员函数
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_optimizer.h 第 31 行定义.

构造及析构函数说明

◆ ~SpeedOptimizer()

virtual apollo::planning::SpeedOptimizer::~SpeedOptimizer ( )

virtualdefault

成员函数说明

◆ Execute()

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

overridevirtual

重载 apollo::planning::Task .

在文件 speed_optimizer.cc 第 32 行定义.

                                                                       {
  Task::Execute(frame, reference_line_info);
 
  auto ret =
      Process(reference_line_info->path_data(), frame->PlanningStartPoint(),
              reference_line_info->mutable_speed_data());
 
  RecordDebugInfo(reference_line_info->speed_data());
  return ret;
}

◆ Process()

virtual common::Status apollo::planning::SpeedOptimizer::Process	(	const PathData &	path_data,
		const common::TrajectoryPoint &	init_point,
		SpeedData *const	speed_data
	)

protectedpure virtual

◆ RecordDebugInfo() [1/2]

void apollo::planning::SpeedOptimizer::RecordDebugInfo ( const SpeedData & speed_data )

protected

在文件 speed_optimizer.cc 第 44 行定义.

                                                                {
  auto* debug = reference_line_info_->mutable_debug();
  auto ptr_speed_plan = debug->mutable_planning_data()->add_speed_plan();
  ptr_speed_plan->set_name(Name());
  ptr_speed_plan->mutable_speed_point()->CopyFrom(
      {speed_data.begin(), speed_data.end()});
}

◆ RecordDebugInfo() [2/2]

void apollo::planning::SpeedOptimizer::RecordDebugInfo	(	const SpeedData &	speed_data,
		planning_internal::STGraphDebug *	st_graph_debug
	)

protected

在文件 speed_optimizer.cc 第 52 行定义.

                                                                   {
  if (!FLAGS_enable_record_debug || !st_graph_debug) {
    ADEBUG << "Skip record debug info";
    return;
  }
  st_graph_debug->set_name(Name());
  st_graph_debug->mutable_speed_profile()->CopyFrom(
      {speed_data.begin(), speed_data.end()});
}

该类的文档由以下文件生成:

modules/planning/planning_interface_base/task_base/common/speed_optimizer.h
modules/planning/planning_interface_base/task_base/common/speed_optimizer.cc

Public 成员函数

Protected 成员函数

额外继承的成员函数