apollo::planning::StageParkingRetryPark类 参考

#include <stage_parking_retry_park.h>

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

apollo::planning::StageParkingRetryPark 的协作图:

Public 成员函数
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 bool	Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)
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_parking_retry_park.h 第 33 行定义.

成员函数说明

Process()

StageResult apollo::planning::StageParkingRetryPark::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_parking_retry_park.cc 第 26 行定义.

                                                                    {
  // Open space planning doesn't use planning_init_point from upstream because
  // of different stitching strategy
  if (arrive_parking_spot_) {
    AINFO << "Stage Parking finish";
    frame->mutable_open_space_info()->set_openspace_planning_finish(true);
    return StageResult(StageStatusType::FINISHED);
  }
  auto scenario_context = GetContextAs<ValetParkingContext>();
  frame->mutable_open_space_info()->set_is_on_open_space_trajectory(true);
  *(frame->mutable_open_space_info()->mutable_target_parking_spot_id()) =
      scenario_context->target_parking_spot_id;
  StageResult result = ExecuteTaskOnOpenSpace(frame);
  if (result.HasError()) {
    AERROR << "StageParking planning error";
    return result.SetStageStatus(StageStatusType::ERROR);
  }
    if (frame->open_space_info().destination_reached()) {
        frame->mutable_open_space_info()->set_openspace_planning_finish(true);
    CheckParkingAccuracy(frame);
    arrive_parking_spot_ = true;
        return result.SetStageStatus(StageStatusType::FINISHED);
    }
  return result.SetStageStatus(StageStatusType::RUNNING);
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/valet_parking_park/stage_parking_retry_park.h
• modules/planning/scenarios/valet_parking_park/stage_parking_retry_park.cc