#include <stage_large_curvature.h>

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

apollo::planning::StageLargeCurvature 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_large_curvature.h 第 32 行定义.

成员函数说明

◆ Init()

bool apollo::planning::StageLargeCurvature::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_large_curvature.cc 第 31 行定义.

                       {
    CHECK_NOTNULL(context);
    bool ret = Stage::Init(config, injector, config_dir, context);
    if (!ret) {
        AERROR << Name() << "init failed!";
        return false;
    }
    scenario_config_.CopyFrom(GetContextAs<LargeCurvatureContext>()->scenario_config);
    return ret;
}

◆ Process()

StageResult apollo::planning::StageLargeCurvature::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_large_curvature.cc 第 46 行定义.

                                                                                                       {
    frame->mutable_open_space_info()->set_is_on_open_space_trajectory(true);
    StageResult result = ExecuteTaskOnOpenSpace(frame);
    if (result.HasError()) {
        AERROR << "StageLargeCurvature planning error";
        return result.SetStageStatus(StageStatusType::ERROR);
    }
 
    if (frame->open_space_info().destination_reached() || IsCurvatureSmall(frame)) {
        AINFO << "StageLargeCurvature destination reached";
        next_stage_.clear();
        return result.SetStageStatus(StageStatusType::FINISHED);
    }
    return result.SetStageStatus(StageStatusType::RUNNING);
}

该类的文档由以下文件生成:

modules/planning/scenarios/large_curvature/stage_large_curvature.h
modules/planning/scenarios/large_curvature/stage_large_curvature.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

◆ Init()

◆ Process()