apollo::planning::YieldSignScenario类 参考

#include <yield_sign_scenario.h>

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

apollo::planning::YieldSignScenario 的协作图:

Public 成员函数
bool	Init (std::shared_ptr< DependencyInjector > injector, const std::string &name) override
YieldSignContext *	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 yield_sign_scenario.h 第 45 行定义.

成员函数说明

Enter()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 yield_sign_scenario.cc 第 99 行定义.

                                          {
  // get first_encountered yield_sign
  const auto& reference_line_info = frame->reference_line_info().front();
  std::string current_yield_sign_overlap_id;
  const auto& overlaps = reference_line_info.FirstEncounteredOverlaps();
  for (auto overlap : overlaps) {
    if (overlap.first == ReferenceLineInfo::YIELD_SIGN) {
      current_yield_sign_overlap_id = overlap.second.object_id;
      break;
    }
  }
 
  if (current_yield_sign_overlap_id.empty()) {
    injector_->planning_context()
        ->mutable_planning_status()
        ->mutable_yield_sign()
        ->Clear();
    AERROR << "Can not find yield sign overlap in reference line!";
    return false;
  }
 
  // find all the yield_sign at/within the same location/group
  const std::vector<hdmap::PathOverlap>& yield_sign_overlaps =
      reference_line_info.reference_line().map_path().yield_sign_overlaps();
  auto yield_sign_overlap_itr = std::find_if(
      yield_sign_overlaps.begin(), yield_sign_overlaps.end(),
      [&current_yield_sign_overlap_id](const hdmap::PathOverlap& overlap) {
        return overlap.object_id == current_yield_sign_overlap_id;
      });
  if (yield_sign_overlap_itr == yield_sign_overlaps.end()) {
    injector_->planning_context()
        ->mutable_planning_status()
        ->mutable_yield_sign()
        ->Clear();
    AERROR << "Can not find yield sign overlap "
           << current_yield_sign_overlap_id;
    return false;
  }
 
  static constexpr double kTrafficLightGroupingMaxDist = 2.0;  // unit: m
  const double current_yield_sign_overlap_start_s =
      yield_sign_overlap_itr->start_s;
  context_.current_yield_sign_overlap_ids.clear();
  for (const auto& yield_sign_overlap : yield_sign_overlaps) {
    const double dist =
        yield_sign_overlap.start_s - current_yield_sign_overlap_start_s;
    if (fabs(dist) <= kTrafficLightGroupingMaxDist) {
      injector_->planning_context()
          ->mutable_planning_status()
          ->mutable_yield_sign()
          ->add_current_yield_sign_overlap_id(yield_sign_overlap.object_id);
      ADEBUG << "Update PlanningContext with first_encountered yield_sign["
             << yield_sign_overlap.object_id << "] start_s["
             << yield_sign_overlap.start_s << "]";
      context_.current_yield_sign_overlap_ids.push_back(
          yield_sign_overlap.object_id);
    }
  }
  return true;
}

Exit()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 yield_sign_scenario.cc 第 91 行定义.

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

GetContext()

YieldSignContext * apollo::planning::YieldSignScenario::GetContext ( )

inlineoverridevirtual

Get the scenario context.

实现了 apollo::planning::Scenario.

在文件 yield_sign_scenario.h 第 53 行定义.

{ return &context_; }

Init()

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

overridevirtual

重载 apollo::planning::Scenario .

在文件 yield_sign_scenario.cc 第 42 行定义.

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

IsTransferable()

bool apollo::planning::YieldSignScenario::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 yield_sign_scenario.cc 第 57 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* yield_sign_overlap = nullptr;
  for (const auto& overlap : first_encountered_overlaps) {
    if (overlap.first == ReferenceLineInfo::SIGNAL ||
        overlap.first == ReferenceLineInfo::STOP_SIGN) {
      return false;
    } else if (overlap.first == ReferenceLineInfo::YIELD_SIGN) {
      yield_sign_overlap = const_cast<hdmap::PathOverlap*>(&overlap.second);
      break;
    }
  }
  if (yield_sign_overlap == nullptr) {
    return false;
  }
  const double adc_front_edge_s = reference_line_info.AdcSlBoundary().end_s();
  const double adc_distance_to_yield_sign =
      yield_sign_overlap->start_s - adc_front_edge_s;
  const bool yield_sign_scenario =
      (adc_distance_to_yield_sign > 0.0 &&
       adc_distance_to_yield_sign <=
           context_.scenario_config.start_yield_sign_scenario_distance());
  return yield_sign_scenario;
}

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该类的文档由以下文件生成:

• modules/planning/scenarios/yield_sign/yield_sign_scenario.h
• modules/planning/scenarios/yield_sign/yield_sign_scenario.cc