#include <square_scenario.h>

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

apollo::planning::SquareScenario 的协作图:

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

SquareContext *	GetContext () override
	Get the scenario context.

bool	IsTransferable (const Scenario *other_scenario, const Frame &frame) override
	Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

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

virtual	~Scenario ()=default

virtual ScenarioResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)

virtual bool	Exit (Frame *frame)

virtual bool	Enter (Frame *frame)

std::shared_ptr< Stage >	CreateStage (const StagePipeline &stage_pipeline)
	Each scenario should define its own stages object's creation scenario will call stage's Stage::Process function following a configured order, The return value of Stage::Process function determines the transition from one stage to another.

const ScenarioStatusType &	GetStatus () const

const std::string	GetStage () const

const std::string &	GetMsg () const

const std::string &	Name () const

void	Reset ()
	Reset the scenario, used before entering the scenario.

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

Protected 属性继承自 apollo::planning::Scenario
ScenarioResult	scenario_result_

std::shared_ptr< Stage >	current_stage_

std::unordered_map< std::string, const StagePipeline * >	stage_pipeline_map_

std::string	msg_

std::shared_ptr< DependencyInjector >	injector_

std::string	config_path_

std::string	config_dir_

std::string	name_

ScenarioPipeline	scenario_pipeline_config_

详细描述

在文件 square_scenario.h 第 34 行定义.

成员函数说明

◆ GetContext()

SquareContext * apollo::planning::SquareScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 square_scenario.h 第 40 行定义.

                                         {
        return &context_;
    }

◆ Init()

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

virtual

重载 apollo::planning::Scenario .

在文件 square_scenario.cc 第 28 行定义.

                                                                                           {
    if (!Scenario::Init(injector, name)) {
        AERROR << "failed to init scenario" << Name();
        return false;
    }
 
    if (!Scenario::LoadConfig<apollo::planning::ScenarioSquareConfig>(&context_.scenario_config)) {
        AERROR << "fail to get config of scenario" << Name();
        return false;
    }
 
    return true;
}

◆ IsTransferable()

bool apollo::planning::SquareScenario::IsTransferable	(	const Scenario *	other_scenario,
		const Frame &	frame
	)

overridevirtual

Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

重载 apollo::planning::Scenario .

在文件 square_scenario.cc 第 42 行定义.

                                                                                      {
    if (!frame.local_view().planning_command->has_lane_follow_command()) {
        return false;
    }
    if (frame.reference_line_info().empty() || frame.reference_line_info().size() > 1) {
        return false;
    }
    const auto& reference_line_info = frame.reference_line_info().front();
    hdmap::PathOverlap junction_overlap;
    if (reference_line_info.GetJunction(reference_line_info.AdcSlBoundary().end_s(), &junction_overlap) == 0) {
        return false;
    }
    if (reference_line_info.AdcSlBoundary().start_s() < junction_overlap.start_s
        || reference_line_info.AdcSlBoundary().end_s() > junction_overlap.end_s) {
        return false;
    }
    context_.junction_id = junction_overlap.object_id;
    AERROR << "JUNCTION ID" << context_.junction_id;
    return true;
}

该类的文档由以下文件生成:

modules/planning/scenarios/square/square_scenario.h
modules/planning/scenarios/square/square_scenario.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

◆ GetContext()

◆ Init()

◆ IsTransferable()