apollo::planning::StopSignUnprotectedStagePreStop类 参考

#include <stage_pre_stop.h>

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

apollo::planning::StopSignUnprotectedStagePreStop 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_pre_stop.h 第 33 行定义.

成员函数说明

Process()

StageResult apollo::planning::StopSignUnprotectedStagePreStop::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_pre_stop.cc 第 53 行定义.

                                                              {
  ADEBUG << "stage: PreStop";
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(context_);
 
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  if (result.HasError()) {
    AERROR << "StopSignUnprotectedStagePreStop planning error";
  }
 
  const auto& reference_line_info = frame->reference_line_info().front();
  auto context = GetContextAs<StopSignUnprotectedContext>();
  std::string stop_sign_overlap_id = context->current_stop_sign_overlap_id;
 
  // get overlap along reference line
  PathOverlap* current_stop_sign_overlap =
      reference_line_info.GetOverlapOnReferenceLine(
          stop_sign_overlap_id, ReferenceLineInfo::STOP_SIGN);
  if (!current_stop_sign_overlap) {
    return FinishScenario();
  }
 
  static constexpr double kPassStopLineBuffer = 0.3;  // unit: m
  const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
  const double distance_adc_pass_stop_sign =
      adc_front_edge_s - current_stop_sign_overlap->start_s;
  if (distance_adc_pass_stop_sign <= kPassStopLineBuffer) {
    // not passed stop line, check valid stop
    if (CheckADCStop(adc_front_edge_s, current_stop_sign_overlap->start_s)) {
      return FinishStage();
    }
  } else {
    // passed stop line
    return FinishStage();
  }
 
  // PRE-STOP
  const PathDecision& path_decision = reference_line_info.path_decision();
  auto& watch_vehicles = context->watch_vehicles;
 
  std::vector<std::string> watch_vehicle_ids;
  for (const auto& vehicle : watch_vehicles) {
    std::copy(vehicle.second.begin(), vehicle.second.end(),
              std::back_inserter(watch_vehicle_ids));
 
    // for debug string
    std::string associated_lane_id = vehicle.first;
    std::string s;
    for (const std::string& vehicle_id : vehicle.second) {
      s = s.empty() ? vehicle_id : s + "," + vehicle_id;
    }
    ADEBUG << "watch_vehicles: lane_id[" << associated_lane_id << "] vehicle["
           << s << "]";
  }
 
  // pass vehicles being watched to DECIDER_RULE_BASED_STOP task
  // for visualization
  for (const auto& perception_obstacle_id : watch_vehicle_ids) {
    injector_->planning_context()
        ->mutable_planning_status()
        ->mutable_stop_sign()
        ->add_wait_for_obstacle_id(perception_obstacle_id);
  }
 
  for (const auto* obstacle : path_decision.obstacles().Items()) {
    // add to watch_vehicles if adc is still proceeding to stop sign
    AddWatchVehicle(*obstacle, &watch_vehicles);
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/stop_sign_unprotected/stage_pre_stop.h
• modules/planning/scenarios/stop_sign_unprotected/stage_pre_stop.cc