apollo::planning::StageApproachingPreciseParking类 参考

#include <stage_approaching_precise_parking.h>

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

apollo::planning::StageApproachingPreciseParking 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_precise_parking.h 第 38 行定义.

成员函数说明

Init()

bool apollo::planning::StageApproachingPreciseParking::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_precise_parking.cc 第 30 行定义.

                       {
    if (!Stage::Init(config, injector, config_dir, context)) {
        return false;
    }
    scenario_context_ = *(GetContextAs<PreciseParkingContext>());
    // hdmap_ = hdmap::HDMapUtil::BaseMapPtr();
    // CHECK_NOTNULL(hdmap_);
    return true;
}

Process()

StageResult apollo::planning::StageApproachingPreciseParking::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_precise_parking.cc 第 43 行定义.

                                                                                                                  {
    ADEBUG << "stage: StageApproachingPreciseParking";
    CHECK_NOTNULL(frame);
    StageResult result;
 
    if (frame->reference_line_info().empty()) {
        AERROR << "frame has no reference line";
        return StageResult(StageStatusType::ERROR);
    }
 
    BuildPreStopObs(frame);
    result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
 
    if (CheckADCInPreciseParkingRange(*frame) && CheckADCStop(*frame)) {
        next_stage_ = "PRECISE_PARKING";
        return StageResult(StageStatusType::FINISHED);
    }
    if (result.HasError()) {
        AERROR << "StageApproachingPreciseParking planning error";
        return result.SetStageStatus(StageStatusType::ERROR);
    }
 
    return result.SetStageStatus(StageStatusType::RUNNING);
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/precise_parking/stage_approaching_precise_parking.h
• modules/planning/scenarios/precise_parking/stage_approaching_precise_parking.cc