apollo::planning::TrafficDecider类 参考

Create traffic related decision in this class. 更多...

#include <traffic_decider.h>

apollo::planning::TrafficDecider 的协作图:

Public 成员函数
	TrafficDecider ()=default
bool	Init (const std::shared_ptr< DependencyInjector > &injector)
virtual	~TrafficDecider ()=default
apollo::common::Status	Execute (Frame *frame, ReferenceLineInfo *reference_line_info)

详细描述

Create traffic related decision in this class.

The created obstacles is added to obstacles_, and the decision is added to obstacles_ Traffic obstacle examples include:

• Traffic Light
• End of routing
• Select the drivable reference line.

在文件 traffic_decider.h 第 47 行定义.

构造及析构函数说明

TrafficDecider()

apollo::planning::TrafficDecider::TrafficDecider ( )

default

~TrafficDecider()

virtual apollo::planning::TrafficDecider::~TrafficDecider ( )

virtualdefault

成员函数说明

Execute()

Status apollo::planning::TrafficDecider::Execute	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)

在文件 traffic_decider.cc 第 105 行定义.

                                                                       {
  CHECK_NOTNULL(frame);
  CHECK_NOTNULL(reference_line_info);
 
  for (const auto &rule : rule_list_) {
    if (!rule) {
      AERROR << "Could not find rule ";
      continue;
    }
    rule->Reset();
    rule->ApplyRule(frame, reference_line_info);
    ADEBUG << "Applied rule " << rule->Getname();
  }
 
  BuildPlanningTarget(reference_line_info);
  return Status::OK();
}

Init()

bool apollo::planning::TrafficDecider::Init

(

const std::shared_ptr< DependencyInjector > &

injector

)

在文件 traffic_decider.cc 第 34 行定义.

                                                                           {
  if (init_) return true;
  // Load the pipeline config.
  AINFO << "Load config path:" << FLAGS_traffic_rule_config_filename;
  // Load the pipeline of scenario.
  if (!apollo::cyber::common::LoadConfig(FLAGS_traffic_rule_config_filename,
                                         &rule_pipeline_)) {
    AERROR << "Load pipeline of Traffic decider"
           << " failed!";
    return false;
  }
  //-----------------------------------------------
  for (int i = 0; i < rule_pipeline_.rule_size(); i++) {
    auto rule =
        apollo::cyber::plugin_manager::PluginManager::Instance()
            ->CreateInstance<TrafficRule>(ConfigUtil::GetFullPlanningClassName(
                rule_pipeline_.rule(i).type()));
    if (!rule) {
      AERROR << "Init of Traffic rule" << rule_pipeline_.rule(i).name()
             << " failed!";
      return false;
    }
    rule->Init(rule_pipeline_.rule(i).name(), injector);
    rule_list_.push_back(rule);
  }
 
  init_ = true;
  return true;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_interface_base/traffic_rules_base/traffic_decider.h
• modules/planning/planning_interface_base/traffic_rules_base/traffic_decider.cc