#include <valet_parking_scenario.h>

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

apollo::planning::ValetParkingScenario 的协作图:

Public 成员函数
bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override

ValetParkingContext *	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.

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)

virtual bool	Exit (Frame *frame)

virtual bool	Enter (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 valet_parking_scenario.h 第 43 行定义.

成员函数说明

◆ GetContext()

ValetParkingContext * apollo::planning::ValetParkingScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 valet_parking_scenario.h 第 51 行定义.

51{ return &context_; }

◆ Init()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 valet_parking_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<ScenarioValetParkingConfig>(
          &context_.scenario_config)) {
    AERROR << "fail to get config of scenario" << Name();
    return false;
  }
  hdmap_ = hdmap::HDMapUtil::BaseMapPtr();
  CHECK_NOTNULL(hdmap_);
  init_ = true;
  return true;
}

◆ IsTransferable()

bool apollo::planning::ValetParkingScenario::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 valet_parking_scenario.cc 第 58 行定义.

                                                              {
  // TODO(all) Implement available parking spot detection by preception results
  if (!frame.local_view().planning_command->has_parking_command()) {
    return false;
  }
  if (other_scenario == nullptr || frame.reference_line_info().empty()) {
    return false;
  }
  std::string target_parking_spot_id;
  if (frame.local_view().planning_command->has_parking_command() &&
      frame.local_view()
          .planning_command->parking_command()
          .has_parking_spot_id()) {
    target_parking_spot_id = frame.local_view()
                                 .planning_command->parking_command()
                                 .parking_spot_id();
  } else {
    ADEBUG << "No parking space id from routing";
    return false;
  }
 
  if (target_parking_spot_id.empty()) {
    return false;
  }
 
  const auto& nearby_path =
      frame.reference_line_info().front().reference_line().map_path();
  PathOverlap parking_space_overlap;
  const auto& vehicle_state = frame.vehicle_state();
 
  if (!SearchTargetParkingSpotOnPath(nearby_path, target_parking_spot_id,
                                     &parking_space_overlap)) {
    ADEBUG << "No such parking spot found after searching all path forward "
              "possible"
           << target_parking_spot_id;
    return false;
  }
  double parking_spot_range_to_start =
      context_.scenario_config.parking_spot_range_to_start();
  if (!CheckDistanceToParkingSpot(frame, vehicle_state, nearby_path,
                                  parking_spot_range_to_start,
                                  parking_space_overlap)) {
    ADEBUG << "target parking spot found, but too far, distance larger than "
              "pre-defined distance"
           << target_parking_spot_id;
    return false;
  }
  context_.target_parking_spot_id = target_parking_spot_id;
  return true;
}

该类的文档由以下文件生成:

modules/planning/scenarios/valet_parking/valet_parking_scenario.h
modules/planning/scenarios/valet_parking/valet_parking_scenario.cc

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ GetContext()

◆ Init()

◆ IsTransferable()