Apollo 10.0
自动驾驶开放平台
apollo::planning::TrafficLightProtectedStageApproach类 参考

#include <stage_approach.h>

类 apollo::planning::TrafficLightProtectedStageApproach 继承关系图:
apollo::planning::TrafficLightProtectedStageApproach 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< Taskfallback_task_
 
std::string next_stage_
 
void * context_
 
std::shared_ptr< DependencyInjectorinjector_
 
StagePipeline pipeline_config_
 

详细描述

在文件 stage_approach.h31 行定义.

成员函数说明

◆ Process()

StageResult apollo::planning::TrafficLightProtectedStageApproach::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_approach.cc37 行定义.

38 {
39 ADEBUG << "stage: Approach";
40 CHECK_NOTNULL(frame);
41 CHECK_NOTNULL(context_);
42
43 auto context = GetContextAs<TrafficLightProtectedContext>();
44 const ScenarioTrafficLightProtectedConfig& scenario_config =
45 context->scenario_config;
46
47 StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
48 if (result.HasError()) {
49 AERROR << "TrafficLightProtectedStageApproach planning error";
50 }
51
52 if (context->current_traffic_light_overlap_ids.empty()) {
53 return FinishScenario();
54 }
55
56 const auto& reference_line_info = frame->reference_line_info().front();
57
58 bool traffic_light_all_done = true;
59 for (const auto& traffic_light_overlap_id :
60 context->current_traffic_light_overlap_ids) {
61 // get overlap along reference line
62 PathOverlap* current_traffic_light_overlap =
63 reference_line_info.GetOverlapOnReferenceLine(
64 traffic_light_overlap_id, ReferenceLineInfo::SIGNAL);
65 if (!current_traffic_light_overlap) {
66 continue;
67 }
68
69 // set right_of_way_status
70 reference_line_info.SetJunctionRightOfWay(
71 current_traffic_light_overlap->start_s, false);
72
73 const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
74 const double distance_adc_to_stop_line =
75 current_traffic_light_overlap->start_s - adc_front_edge_s;
76 auto signal_color = frame->GetSignal(traffic_light_overlap_id).color();
77 ADEBUG << "traffic_light_overlap_id[" << traffic_light_overlap_id
78 << "] start_s[" << current_traffic_light_overlap->start_s
79 << "] distance_adc_to_stop_line[" << distance_adc_to_stop_line
80 << "] color[" << signal_color << "]";
81
82 // check distance to stop line
83 if (distance_adc_to_stop_line > scenario_config.max_valid_stop_distance()) {
84 traffic_light_all_done = false;
85 break;
86 }
87
88 // check on traffic light color
89 if (signal_color != TrafficLight::GREEN) {
90 traffic_light_all_done = false;
91 break;
92 }
93 }
94
95 if (traffic_light_all_done) {
96 return FinishStage();
97 }
98
99 return result.SetStageStatus(StageStatusType::RUNNING);
100}
virtual StageResult FinishScenario()
Definition stage.cc:258
StageResult ExecuteTaskOnReferenceLine(const common::TrajectoryPoint &planning_start_point, Frame *frame)
Definition stage.cc:101
#define ADEBUG
Definition log.h:41
#define AERROR
Definition log.h:44

该类的文档由以下文件生成: