apollo::planning::YieldSignStageCreep类 参考

#include <stage_creep.h>

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

apollo::planning::YieldSignStageCreep 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< Task >	fallback_task_
std::string	next_stage_
void *	context_
std::shared_ptr< DependencyInjector >	injector_
StagePipeline	pipeline_config_

详细描述

在文件 stage_creep.h 第 36 行定义.

成员函数说明

Init()

bool apollo::planning::YieldSignStageCreep::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.cc 第 41 行定义.

                                                {
  CHECK_NOTNULL(context);
  bool ret = Stage::Init(config, injector, config_dir, context);
  if (!ret) {
    AERROR << Name() << "init failed!";
    return false;
  }
  return ret;
}

Process()

StageResult apollo::planning::YieldSignStageCreep::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.cc 第 54 行定义.

                                                              {
  ADEBUG << "stage: Creep";
  CHECK_NOTNULL(frame);
 
  auto scenario_context = GetContextAs<YieldSignContext>();
  scenario_config_.CopyFrom(scenario_context->scenario_config);
 
  if (!pipeline_config_.enabled()) {
    return FinishStage();
  }
 
  // Run creep decider.
  for (auto& reference_line_info : *frame->mutable_reference_line_info()) {
    if (!reference_line_info.IsDrivable()) {
      AERROR << "The generated path is not drivable";
      break;
    }
 
    const auto ret = ProcessCreep(frame, &reference_line_info);
    if (!ret.ok()) {
      AERROR << "Failed to run CreepDecider ], Error message: "
             << ret.error_message();
      break;
    }
  }
 
  StageResult result = ExecuteTaskOnReferenceLine(planning_init_point, frame);
  if (result.HasError()) {
    AERROR << "YieldSignStageCreep planning error";
  }
 
  if (scenario_context->current_yield_sign_overlap_ids.empty()) {
    return FinishScenario();
  }
 
  const auto& reference_line_info = frame->reference_line_info().front();
  const std::string yield_sign_overlap_id =
      scenario_context->current_yield_sign_overlap_ids[0];
 
  // get overlap along reference line
  PathOverlap* current_yield_sign_overlap =
      reference_line_info.GetOverlapOnReferenceLine(
          yield_sign_overlap_id, ReferenceLineInfo::YIELD_SIGN);
  if (!current_yield_sign_overlap) {
    return FinishScenario();
  }
 
  // set right_of_way_status
  const double yield_sign_start_s = current_yield_sign_overlap->start_s;
  reference_line_info.SetJunctionRightOfWay(yield_sign_start_s, false);
 
  const double yield_sign_end_s = current_yield_sign_overlap->end_s;
  const double wait_time =
      Clock::NowInSeconds() - scenario_context->creep_start_time;
  const double timeout_sec = scenario_config_.creep_timeout_sec();
 
  double creep_stop_s =
      GetCreepFinishS(yield_sign_end_s, *frame, reference_line_info);
  const double distance =
      creep_stop_s - reference_line_info.AdcSlBoundary().end_s();
  if (distance <= 0.0) {
    auto& rfl_info = frame->mutable_reference_line_info()->front();
    *(rfl_info.mutable_speed_data()) =
        SpeedProfileGenerator::GenerateFixedDistanceCreepProfile(0.0, 0);
  }
 
  if (CheckCreepDone(*frame, reference_line_info, yield_sign_end_s, wait_time,
                     timeout_sec)) {
    return FinishStage();
  }
 
  return result.SetStageStatus(StageStatusType::RUNNING);
}

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该类的文档由以下文件生成:

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