apollo::planning::TrafficLightProtectedScenario类 参考

#include <traffic_light_protected_scenario.h>

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

apollo::planning::TrafficLightProtectedScenario 的协作图:

Public 成员函数
bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override
TrafficLightProtectedContext *	GetContext () override
	Get the scenario context.
bool	IsTransferable (const Scenario *const other_scenario, const Frame &frame) override
	Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.
bool	Exit (Frame *frame) override
bool	Enter (Frame *frame) override
Public 成员函数 继承自 apollo::planning::Scenario
	Scenario ()
virtual	~Scenario ()=default
virtual ScenarioResult	Process (const common::TrajectoryPoint &planning_init_point, Frame *frame)
std::shared_ptr< Stage >	CreateStage (const StagePipeline &stage_pipeline)
	Each scenario should define its own stages object's creation scenario will call stage's Stage::Process function following a configured order, The return value of Stage::Process function determines the transition from one stage to another.
const ScenarioStatusType &	GetStatus () const
const std::string	GetStage () const
const std::string &	GetMsg () const
const std::string &	Name () const
void	Reset ()
	Reset the scenario, used before entering the scenario.

额外继承的成员函数
Protected 成员函数 继承自 apollo::planning::Scenario
template<typename T >
bool	LoadConfig (T *config)
Protected 属性 继承自 apollo::planning::Scenario
ScenarioResult	scenario_result_
std::shared_ptr< Stage >	current_stage_
std::unordered_map< std::string, const StagePipeline * >	stage_pipeline_map_
std::string	msg_
std::shared_ptr< DependencyInjector >	injector_
std::string	config_path_
std::string	config_dir_
std::string	name_
ScenarioPipeline	scenario_pipeline_config_

详细描述

在文件 traffic_light_protected_scenario.h 第 37 行定义.

成员函数说明

Enter()

bool apollo::planning::TrafficLightProtectedScenario::Enter ( Frame *  frame )

overridevirtual

重载 apollo::planning::Scenario .

在文件 traffic_light_protected_scenario.cc 第 138 行定义.

                                                      {
  injector_->planning_context()
      ->mutable_planning_status()
      ->mutable_traffic_light()
      ->Clear();
  if (context_.current_traffic_light_overlap_ids.empty()) {
    AERROR << "Can not find traffic light overlap in reference line!";
    return false;
  }
  for (const auto& overlap_id : context_.current_traffic_light_overlap_ids) {
    injector_->planning_context()
        ->mutable_planning_status()
        ->mutable_traffic_light()
        ->add_current_traffic_light_overlap_id(overlap_id);
  }
  return true;
}

Exit()

bool apollo::planning::TrafficLightProtectedScenario::Exit ( Frame *  frame )

overridevirtual

重载 apollo::planning::Scenario .

在文件 traffic_light_protected_scenario.cc 第 130 行定义.

                                                     {
  injector_->planning_context()
      ->mutable_planning_status()
      ->mutable_traffic_light()
      ->Clear();
  return true;
}

GetContext()

TrafficLightProtectedContext * apollo::planning::TrafficLightProtectedScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 traffic_light_protected_scenario.h 第 45 行定义.

{ return &context_; }

Init()

bool apollo::planning::TrafficLightProtectedScenario::Init ( std::shared_ptr< DependencyInjector >  injector, const std::string &  name  )

overridevirtual

重载 apollo::planning::Scenario .

在文件 traffic_light_protected_scenario.cc 第 36 行定义.

                                                                       {
  if (init_) {
    return true;
  }
 
  if (!Scenario::Init(injector, name)) {
    AERROR << "failed to init scenario" << Name();
    return false;
  }
 
  if (!Scenario::LoadConfig<ScenarioTrafficLightProtectedConfig>(
          &context_.scenario_config)) {
    AERROR << "fail to get specific config of scenario " << Name();
    return false;
  }
  init_ = true;
  return true;
}

IsTransferable()

bool apollo::planning::TrafficLightProtectedScenario::IsTransferable ( const Scenario *const  other_scenario, const Frame &  frame  )

overridevirtual

Each scenario should define its own transfer condition, i.e., when it should allow to transfer from other scenario to itself.

重载 apollo::planning::Scenario .

在文件 traffic_light_protected_scenario.cc 第 56 行定义.

                                                              {
  if (!frame.local_view().planning_command->has_lane_follow_command()) {
    return false;
  }
  if (other_scenario == nullptr || frame.reference_line_info().empty()) {
    return false;
  }
  const auto& reference_line_info = frame.reference_line_info().front();
  const auto& first_encountered_overlaps =
      reference_line_info.FirstEncounteredOverlaps();
  hdmap::PathOverlap* traffic_sign_overlap = nullptr;
  for (const auto& overlap : first_encountered_overlaps) {
    if (overlap.first == ReferenceLineInfo::STOP_SIGN ||
        overlap.first == ReferenceLineInfo::YIELD_SIGN) {
      return false;
    } else if (overlap.first == ReferenceLineInfo::SIGNAL) {
      traffic_sign_overlap = const_cast<hdmap::PathOverlap*>(&overlap.second);
      break;
    }
  }
  if (traffic_sign_overlap == nullptr) {
    return false;
  }
  const std::vector<hdmap::PathOverlap>& traffic_light_overlaps =
      reference_line_info.reference_line().map_path().signal_overlaps();
  const double start_check_distance =
      context_.scenario_config.start_traffic_light_scenario_distance();
  const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
  // find all the traffic light belong to
  // the same group as first encountered traffic light
  std::vector<hdmap::PathOverlap> next_traffic_lights;
  static constexpr double kTrafficLightGroupingMaxDist = 2.0;  // unit: m
  for (const auto& overlap : traffic_light_overlaps) {
    const double dist = overlap.start_s - traffic_sign_overlap->start_s;
    if (fabs(dist) <= kTrafficLightGroupingMaxDist) {
      next_traffic_lights.push_back(overlap);
    }
  }
  bool traffic_light_scenario = false;
  // note: need iterate all lights to check no RED/YELLOW/UNKNOWN
  for (const auto& overlap : next_traffic_lights) {
    const double adc_distance_to_traffic_light =
        overlap.start_s - adc_front_edge_s;
    ADEBUG << "traffic_light[" << overlap.object_id << "] start_s["
           << overlap.start_s << "] adc_distance_to_traffic_light["
           << adc_distance_to_traffic_light << "]";
 
    // enter traffic-light scenarios: based on distance only
    if (adc_distance_to_traffic_light <= 0.0 ||
        adc_distance_to_traffic_light > start_check_distance) {
      continue;
    }
 
    const auto& signal_color = frame.GetSignal(overlap.object_id).color();
    ADEBUG << "traffic_light_id[" << overlap.object_id << "] start_s["
           << overlap.start_s << "] color[" << signal_color << "]";
 
    if (signal_color != perception::TrafficLight::GREEN &&
        signal_color != perception::TrafficLight::BLACK) {
      traffic_light_scenario = true;
      break;
    }
  }
  if (!traffic_light_scenario) {
    return false;
  }
  context_.current_traffic_light_overlap_ids.clear();
  for (const auto& overlap : next_traffic_lights) {
    context_.current_traffic_light_overlap_ids.push_back(overlap.object_id);
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/traffic_light_protected/traffic_light_protected_scenario.h
• modules/planning/scenarios/traffic_light_protected/traffic_light_protected_scenario.cc