apollo::planning::StageApproachingParkingSpot类 参考

#include <stage_approaching_parking_spot.h>

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

apollo::planning::StageApproachingParkingSpot 的协作图:

Public 成员函数
bool	Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)
StageResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame) override
	Each stage does its business logic inside Process function.
Public 成员函数 继承自 apollo::planning::Stage
	Stage ()
virtual	~Stage ()=default
const std::string &	Name () const
template<typename T >
T *	GetContextAs () const
const std::string &	NextStage () const

额外继承的成员函数
Protected 成员函数 继承自 apollo::planning::Stage
StageResult	ExecuteTaskOnReferenceLine (const common::TrajectoryPoint &planning_start_point, Frame *frame)
StageResult	ExecuteTaskOnReferenceLineForOnlineLearning (const common::TrajectoryPoint &planning_start_point, Frame *frame)
StageResult	ExecuteTaskOnOpenSpace (Frame *frame)
virtual StageResult	FinishScenario ()
void	RecordDebugInfo (ReferenceLineInfo *reference_line_info, const std::string &name, const double time_diff_ms)
Protected 属性 继承自 apollo::planning::Stage
std::vector< std::shared_ptr< Task > >	task_list_
std::shared_ptr< Task >	fallback_task_
std::string	next_stage_
void *	context_
std::shared_ptr< DependencyInjector >	injector_
StagePipeline	pipeline_config_

详细描述

在文件 stage_approaching_parking_spot.h 第 33 行定义.

成员函数说明

Init()

bool apollo::planning::StageApproachingParkingSpot::Init ( const StagePipeline &  config, const std::shared_ptr< DependencyInjector > &  injector, const std::string &  config_dir, void *  context  )

virtual

重载 apollo::planning::Stage .

在文件 stage_approaching_parking_spot.cc 第 28 行定义.

                                                {
  if (!Stage::Init(config, injector, config_dir, context)) {
    return false;
  }
  scenario_config_.CopyFrom(
      GetContextAs<ValetParkingContext>()->scenario_config);
  return true;
}

Process()

StageResult apollo::planning::StageApproachingParkingSpot::Process ( const common::TrajectoryPoint &  planning_init_point, Frame *  frame  )

overridevirtual

Each stage does its business logic inside Process function.

If the stage want to transit to a different stage after finish, it should set the type of 'next_stage_'.

实现了 apollo::planning::Stage.

在文件 stage_approaching_parking_spot.cc 第 39 行定义.

                                                                    {
  ADEBUG << "stage: StageApproachingParkingSpot";
  CHECK_NOTNULL(frame);
  StageResult result;
  auto scenario_context = GetContextAs<ValetParkingContext>();
 
  if (scenario_context->target_parking_spot_id.empty()) {
    return result.SetStageStatus(StageStatusType::ERROR);
  }
 
  *(frame->mutable_open_space_info()->mutable_target_parking_spot_id()) =
      scenario_context->target_parking_spot_id;
  frame->mutable_open_space_info()->set_pre_stop_rightaway_flag(
      scenario_context->pre_stop_rightaway_flag);
  *(frame->mutable_open_space_info()->mutable_pre_stop_rightaway_point()) =
      scenario_context->pre_stop_rightaway_point;
  auto* reference_lines = frame->mutable_reference_line_info();
  for (auto& reference_line : *reference_lines) {
    auto* path_decision = reference_line.path_decision();
    if (nullptr == path_decision) {
      continue;
    }
    auto* dest_obstacle = path_decision->Find(FLAGS_destination_obstacle_id);
    if (nullptr == dest_obstacle) {
      continue;
    }
    ObjectDecisionType decision;
    decision.mutable_ignore();
    dest_obstacle->EraseDecision();
    dest_obstacle->AddLongitudinalDecision("ignore-dest-in-valet-parking",
                                           decision);
  }
  result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
 
  scenario_context->pre_stop_rightaway_flag =
      frame->open_space_info().pre_stop_rightaway_flag();
  scenario_context->pre_stop_rightaway_point =
      frame->open_space_info().pre_stop_rightaway_point();
 
  if (CheckADCStop(*frame)) {
    next_stage_ = "VALET_PARKING_PARKING";
    return StageResult(StageStatusType::FINISHED);
  }
  if (result.HasError()) {
    AERROR << "StopSignUnprotectedStagePreStop planning error";
    return result.SetStageStatus(StageStatusType::ERROR);
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}

---

该类的文档由以下文件生成:

• modules/planning/scenarios/valet_parking/stage_approaching_parking_spot.h
• modules/planning/scenarios/valet_parking/stage_approaching_parking_spot.cc