apollo::planning::StageArriveParkingSpot类 参考

#include <stage_arrive_parking_spot.h>

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

apollo::planning::StageArriveParkingSpot 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_arrive_parking_spot.h 第 35 行定义.

成员函数说明

Init()

bool apollo::planning::StageArriveParkingSpot::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_arrive_parking_spot.cc 第 35 行定义.

                       {
    CHECK_NOTNULL(context);
    bool ret = Stage::Init(config, injector, config_dir, context);
    if (!ret) {
        AERROR << Name() << "init failed!";
        return false;
    }
    precise_parking_context_ = GetContextAs<PreciseParkingContext>();
    return ret;
}

Process()

StageResult apollo::planning::StageArriveParkingSpot::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_arrive_parking_spot.cc 第 50 行定义.

                                                                                                          {
    StageResult result;
    if (precise_parking_context_->precise_parking_command.mission_type()
        == external_command::PreciseMissionType::DUMP) {
        AINFO << "Dumping parking spot";
        return ExecuteDumpMission(frame);
    } else if (precise_parking_context_->precise_parking_command.mission_type() == external_command::PreciseMissionType::CHARGE) {
        AINFO << "Charging parking spot";
        return ExecuteChargeMission(frame);
    }
    // else if (
    //         precise_parking_context_->precise_parking_command.mission_type()
    //         == external_command::PreciseParkingCommand::Type::CHARGE) {
    //     AINFO << "charge parking spot";
    //     return ExecuteChargeMission(frame);
    // }
    return result.SetStageStatus(StageStatusType::ERROR);
}

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该类的文档由以下文件生成:

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