#include <speed_setting.h>

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

apollo::planning::SpeedSetting 的协作图:

Public 成员函数
	SpeedSetting ()

virtual	~SpeedSetting ()=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

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

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

在文件 speed_setting.h 第 29 行定义.

构造及析构函数说明

◆ SpeedSetting()

apollo::planning::SpeedSetting::SpeedSetting ( )

在文件 speed_setting.cc 第 30 行定义.

                           : last_cruise_speed_(-1.0), last_sequence_num_(-1) {
    // hook: Apollo License Verification: v_apollo_park
}

◆ ~SpeedSetting()

virtual apollo::planning::SpeedSetting::~SpeedSetting ( )

virtualdefault

成员函数说明

◆ ApplyRule()

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

virtual

实现了 apollo::planning::TrafficRule.

在文件 speed_setting.cc 第 34 行定义.

                                                                                               {
    const auto& planning_command = frame->local_view().planning_command;
    // If there is new planning command, use the last set cruise speed.
    if (!planning_command->has_header() || !planning_command->header().has_sequence_num()
        || planning_command->header().sequence_num() == last_sequence_num_) {
        // Set the cruise speed with last speed limit.
        if (last_cruise_speed_ > 0.0) {
            reference_line_info->SetCruiseSpeed(last_cruise_speed_);
        }
        return Status::OK();
    }
    // Update the new cruise speed when new motion command comes. The first time
    // received new motion command, use the new cruise speed.
    if (planning_command->is_motion_command()) {
        last_cruise_speed_ = reference_line_info->GetBaseCruiseSpeed();
        return Status::OK();
    }
 
    // Only deal with planning command which has "SpeedCommand" as custom command.
    if (!planning_command->has_custom_command()
        || !planning_command->custom_command().Is<external_command::SpeedCommand>()) {
        // Set the cruise speed with last speed limit.
        if (last_cruise_speed_ > 0.0) {
            reference_line_info->SetCruiseSpeed(last_cruise_speed_);
        }
        return Status::OK();
    }
    const auto& custom_command = planning_command->custom_command();
    external_command::SpeedCommand speed_command;
    if (!custom_command.UnpackTo(&speed_command)) {
        // Set the cruise speed with last speed limit.
        if (last_cruise_speed_ > 0.0) {
            reference_line_info->SetCruiseSpeed(last_cruise_speed_);
        }
        AERROR << "Unpack speed command failed!";
        return Status(common::PLANNING_ERROR);
    }
    // If command is to restore the target speed, don't modify it in
    // "reference_line_info".
    if (speed_command.has_is_restore_target_speed() && speed_command.is_restore_target_speed()) {
        last_cruise_speed_ = reference_line_info->GetBaseCruiseSpeed();
        return Status::OK();
    }
    last_sequence_num_ = planning_command->header().sequence_num();
    // Get the cruise speed for the first time.
    if (last_cruise_speed_ < 0.0) {
        last_cruise_speed_ = reference_line_info->GetBaseCruiseSpeed();
    }
    // Deal with the command for adjusting target speed.
    if (speed_command.has_target_speed()) {
        reference_line_info->SetCruiseSpeed(speed_command.target_speed());
    } else if (speed_command.has_target_speed_factor()) {
        // Calculate the target speed with speed_factor.
        double target_speed = last_cruise_speed_ * speed_command.target_speed_factor();
        reference_line_info->SetCruiseSpeed(target_speed);
    }
    last_cruise_speed_ = reference_line_info->GetBaseCruiseSpeed();
    return Status::OK();
}

◆ Reset()

void apollo::planning::SpeedSetting::Reset ( )

inlineoverridevirtual

实现了 apollo::planning::TrafficRule.

在文件 speed_setting.h 第 37 行定义.

37{}

该类的文档由以下文件生成:

modules/planning/traffic_rules/speed_setting/speed_setting.h
modules/planning/traffic_rules/speed_setting/speed_setting.cc

Public 成员函数