Apollo 10.0
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apollo::planning::TrafficLightUnprotectedLeftTurnStageCreep类 参考

#include <stage_creep.h>

类 apollo::planning::TrafficLightUnprotectedLeftTurnStageCreep 继承关系图:
apollo::planning::TrafficLightUnprotectedLeftTurnStageCreep 的协作图:

Public 成员函数

bool Init (const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context) override
 
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::BaseStageCreep
common::Status ProcessCreep (Frame *frame, ReferenceLineInfo *reference_line_info) const
 
bool CheckCreepDone (const Frame &frame, const ReferenceLineInfo &reference_line_info, const double stop_sign_overlap_end_s, const double wait_time_sec, const double timeout_sec)
 
double GetCreepFinishS (double overlap_end_s, const Frame &frame, const ReferenceLineInfo &reference_line_info) const
 Get the postion where creeping stage finishes.
 
- Public 成员函数 继承自 apollo::planning::Stage
 Stage ()
 
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_creep.h34 行定义.

成员函数说明

◆ Init()

bool apollo::planning::TrafficLightUnprotectedLeftTurnStageCreep::Init ( const StagePipeline config,
const std::shared_ptr< DependencyInjector > &  injector,
const std::string &  config_dir,
void *  context 
)
overridevirtual

重载 apollo::planning::Stage .

在文件 stage_creep.cc40 行定义.

43 {
44 CHECK_NOTNULL(context);
45 bool ret = Stage::Init(config, injector, config_dir, context);
46 if (!ret) {
47 AERROR << Name() << "init failed!";
48 return false;
49 }
50 return ret;
51}
virtual bool Init(const StagePipeline &config, const std::shared_ptr< DependencyInjector > &injector, const std::string &config_dir, void *context)
Definition stage.cc:43
const std::string & Name() const
Definition stage.cc:99
#define AERROR
Definition log.h:44

◆ Process()

StageResult apollo::planning::TrafficLightUnprotectedLeftTurnStageCreep::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_creep.cc53 行定义.

54 {
55 ADEBUG << "stage: Creep";
56 CHECK_NOTNULL(frame);
57 CHECK_NOTNULL(context_);
58
59 auto context = GetContextAs<TrafficLightUnprotectedLeftTurnContext>();
60 const ScenarioTrafficLightUnprotectedLeftTurnConfig& scenario_config =
61 context->scenario_config;
62
64 return FinishStage();
65 }
66
67 // Run creep decider.
68 for (auto& reference_line_info : *frame->mutable_reference_line_info()) {
69 if (!reference_line_info.IsDrivable()) {
70 AERROR << "The generated path is not drivable";
71 break;
72 }
73
74 const auto ret = ProcessCreep(frame, &reference_line_info);
75 if (!ret.ok()) {
76 AERROR << "Failed to run CreepDecider ], Error message: "
77 << ret.error_message();
78 break;
79 }
80 }
81
82 StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
83 if (result.HasError()) {
84 AERROR << "TrafficLightUnprotectedLeftTurnStageCreep planning error";
85 }
86
87 if (context->current_traffic_light_overlap_ids.empty()) {
88 return FinishScenario();
89 }
90
91 const auto& reference_line_info = frame->reference_line_info().front();
92 const std::string traffic_light_overlap_id =
93 context->current_traffic_light_overlap_ids[0];
94 PathOverlap* current_traffic_light_overlap =
95 reference_line_info.GetOverlapOnReferenceLine(traffic_light_overlap_id,
97 if (!current_traffic_light_overlap) {
98 return FinishScenario();
99 }
100
101 // set right_of_way_status
102 reference_line_info.SetJunctionRightOfWay(
103 current_traffic_light_overlap->start_s, false);
104
105 // creep
106 // note: don't check traffic light color while creeping on right turn
107 const double wait_time = Clock::NowInSeconds() - context->creep_start_time;
108 const double timeout_sec = scenario_config.creep_timeout_sec();
109
110 double creep_stop_s = GetCreepFinishS(current_traffic_light_overlap->end_s,
111 *frame, reference_line_info);
112 const double distance =
113 creep_stop_s - reference_line_info.AdcSlBoundary().end_s();
114 if (distance <= 0.0) {
115 auto& rfl_info = frame->mutable_reference_line_info()->front();
116 *(rfl_info.mutable_speed_data()) =
118 }
119
120 if (CheckCreepDone(*frame, reference_line_info,
121 current_traffic_light_overlap->end_s, wait_time,
122 timeout_sec)) {
123 return FinishStage();
124 }
125
126 return result.SetStageStatus(StageStatusType::RUNNING);
127}
static double NowInSeconds()
gets the current time in second.
Definition clock.cc:56
double GetCreepFinishS(double overlap_end_s, const Frame &frame, const ReferenceLineInfo &reference_line_info) const
Get the postion where creeping stage finishes.
bool CheckCreepDone(const Frame &frame, const ReferenceLineInfo &reference_line_info, const double stop_sign_overlap_end_s, const double wait_time_sec, const double timeout_sec)
common::Status ProcessCreep(Frame *frame, ReferenceLineInfo *reference_line_info) const
static SpeedData GenerateFixedDistanceCreepProfile(const double distance, const double max_speed)
virtual StageResult FinishScenario()
Definition stage.cc:258
StagePipeline pipeline_config_
Definition stage.h:92
StageResult ExecuteTaskOnReferenceLine(const common::TrajectoryPoint &planning_start_point, Frame *frame)
Definition stage.cc:101
#define ADEBUG
Definition log.h:41

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