apollo::prediction::ADCTrajectoryContainer类 参考

#include <adc_trajectory_container.h>

类 apollo::prediction::ADCTrajectoryContainer 继承关系图:

apollo::prediction::ADCTrajectoryContainer 的协作图:

Public 成员函数
	ADCTrajectoryContainer ()
	Constructor
virtual	~ADCTrajectoryContainer ()=default
	Destructor
void	Insert (const ::google::protobuf::Message &message) override
	Insert a data message into the container
bool	IsProtected () const
	Get the right-of-way status of ADC
bool	IsPointInJunction (const common::PathPoint &point) const
	Check if a point is in the first junction of the adc trajectory
bool	HasOverlap (const LaneSequence &lane_sequence) const
	Has overlap with ADC trajectory
void	SetPosition (const common::math::Vec2d &position)
	Set ADC position
std::shared_ptr< const hdmap::JunctionInfo >	ADCJunction () const
	Get ADC junction
double	ADCDistanceToJunction () const
	Compute ADC's distance to junction
const planning::ADCTrajectory &	adc_trajectory () const
	Get ADC planning trajectory
bool	IsLaneIdInReferenceLine (const std::string &lane_id) const
	Determine if a lane ID is in the reference line
bool	IsLaneIdInTargetReferenceLine (const std::string &lane_id) const
const std::vector< std::string > &	GetADCLaneIDSequence () const
const std::vector< std::string > &	GetADCTargetLaneIDSequence () const
void	SetJunction (const std::string &junction_id, const double distance)
Public 成员函数 继承自 apollo::prediction::Container
	Container ()=default
	Constructor
virtual	~Container ()=default
	Destructor

详细描述

在文件 adc_trajectory_container.h 第 37 行定义.

构造及析构函数说明

ADCTrajectoryContainer()

apollo::prediction::ADCTrajectoryContainer::ADCTrajectoryContainer

(

)

Constructor

在文件 adc_trajectory_container.cc 第 32 行定义.

    : adc_junction_info_ptr_(nullptr), s_dist_to_junction_(0.0) {}

~ADCTrajectoryContainer()

virtual apollo::prediction::ADCTrajectoryContainer::~ADCTrajectoryContainer ( )

virtualdefault

Destructor

成员函数说明

adc_trajectory()

const ADCTrajectory & apollo::prediction::ADCTrajectoryContainer::adc_trajectory

(

)

const

Get ADC planning trajectory

返回

ADC planning trajectory

在文件 adc_trajectory_container.cc 第 148 行定义.

                                                                  {
  return adc_trajectory_;
}

ADCDistanceToJunction()

double apollo::prediction::ADCTrajectoryContainer::ADCDistanceToJunction

(

)

const

Compute ADC's distance to junction

返回

ADC's distance to junction

在文件 adc_trajectory_container.cc 第 144 行定义.

                                                           {
  return s_dist_to_junction_;
}

ADCJunction()

std::shared_ptr< const apollo::hdmap::JunctionInfo > apollo::prediction::ADCTrajectoryContainer::ADCJunction

(

)

const

Get ADC junction

返回

A pointer to ADC junction information

在文件 adc_trajectory_container.cc 第 140 行定义.

                                          {
  return adc_junction_info_ptr_;
}

GetADCLaneIDSequence()

const std::vector< std::string > & apollo::prediction::ADCTrajectoryContainer::GetADCLaneIDSequence

(

)

const

在文件 adc_trajectory_container.cc 第 239 行定义.

          {
  return adc_lane_seq_;
}

GetADCTargetLaneIDSequence()

const std::vector< std::string > & apollo::prediction::ADCTrajectoryContainer::GetADCTargetLaneIDSequence

(

)

const

在文件 adc_trajectory_container.cc 第 245 行定义.

                                                         {
  return adc_target_lane_seq_;
}

HasOverlap()

bool apollo::prediction::ADCTrajectoryContainer::HasOverlap

(

const LaneSequence &

lane_sequence

)

const

Has overlap with ADC trajectory

返回

True if a target lane sequence has overlap with ADC trajectory

在文件 adc_trajectory_container.cc 第 216 行定义.

                                             {
  for (const auto& lane_segment : lane_sequence.lane_segment()) {
    std::string lane_id = lane_segment.lane_id();
    if (adc_lane_ids_.find(lane_id) != adc_lane_ids_.end()) {
      return true;
    }
  }
  return false;
}

Insert()

void apollo::prediction::ADCTrajectoryContainer::Insert ( const ::google::protobuf::Message &  message )

overridevirtual

Insert a data message into the container

参数

Data	message to be inserted in protobuf

实现了 apollo::prediction::Container.

在文件 adc_trajectory_container.cc 第 35 行定义.

                                          {
  adc_lane_ids_.clear();
  adc_lane_seq_.clear();
  adc_target_lane_ids_.clear();
  adc_target_lane_seq_.clear();
  adc_junction_polygon_ = std::move(Polygon2d());
 
  adc_trajectory_.CopyFrom(dynamic_cast<const ADCTrajectory&>(message));
  ADEBUG << "Received a planning message ["
         << adc_trajectory_.ShortDebugString() << "].";
 
  // Find ADC lane sequence
  SetLaneSequence();
  ADEBUG << "Generate an ADC lane id sequence [" << ToString(adc_lane_seq_)
         << "].";
 
  // Find ADC target lane sequence
  SetTargetLaneSequence();
  ADEBUG << "Generate an ADC target lane id sequence ["
         << ToString(adc_target_lane_seq_) << "].";
}

IsLaneIdInReferenceLine()

bool apollo::prediction::ADCTrajectoryContainer::IsLaneIdInReferenceLine

(

const std::string &

lane_id

)

const

Determine if a lane ID is in the reference line

返回

The lane ID to be investigated

在文件 adc_trajectory_container.cc 第 152 行定义.

                                    {
  return adc_lane_ids_.find(lane_id) != adc_lane_ids_.end();
}

IsLaneIdInTargetReferenceLine()

bool apollo::prediction::ADCTrajectoryContainer::IsLaneIdInTargetReferenceLine

(

const std::string &

lane_id

)

const

在文件 adc_trajectory_container.cc 第 157 行定义.

                                    {
  return adc_target_lane_ids_.find(lane_id) != adc_target_lane_ids_.end();
}

IsPointInJunction()

bool apollo::prediction::ADCTrajectoryContainer::IsPointInJunction

(

const common::PathPoint &

point

)

const

Check if a point is in the first junction of the adc trajectory

参数

Point

返回

True if the point is in the first junction of the adc trajectory

在文件 adc_trajectory_container.cc 第 58 行定义.

                                                                           {
  if (adc_junction_polygon_.points().size() < 3) {
    return false;
  }
  bool in_polygon = adc_junction_polygon_.IsPointIn({point.x(), point.y()});
 
  bool on_virtual_lane = false;
  if (point.has_lane_id()) {
    on_virtual_lane = PredictionMap::IsVirtualLane(point.lane_id());
  }
  if (!on_virtual_lane) {
    on_virtual_lane = PredictionMap::OnVirtualLane({point.x(), point.y()},
                                                   FLAGS_virtual_lane_radius);
  }
  return in_polygon && on_virtual_lane;
}

IsProtected()

bool apollo::prediction::ADCTrajectoryContainer::IsProtected

(

)

const

Get the right-of-way status of ADC

返回

The right-of-way status of ADC

在文件 adc_trajectory_container.cc 第 75 行定义.

                                               {
  return adc_trajectory_.has_right_of_way_status() &&
         adc_trajectory_.right_of_way_status() == ADCTrajectory::PROTECTED;
}

SetJunction()

void apollo::prediction::ADCTrajectoryContainer::SetJunction	(	const std::string &	junction_id,
		const double	distance
	)

在文件 adc_trajectory_container.cc 第 80 行定义.

                                                                {
  std::shared_ptr<const JunctionInfo> junction_info =
      PredictionMap::JunctionById(junction_id);
  if (junction_info != nullptr && junction_info->junction().has_polygon()) {
    std::vector<Vec2d> vertices;
    for (const auto& point : junction_info->junction().polygon().point()) {
      vertices.emplace_back(point.x(), point.y());
    }
    if (vertices.size() >= 3) {
      adc_junction_info_ptr_ = junction_info;
      s_dist_to_junction_ = distance;
      adc_junction_polygon_ = std::move(Polygon2d{vertices});
    }
  }
}

SetPosition()

void apollo::prediction::ADCTrajectoryContainer::SetPosition

(

const common::math::Vec2d &

position

)

Set ADC position

在文件 adc_trajectory_container.cc 第 227 行定义.

                                                              {
  for (auto it = adc_lane_seq_.begin(); it != adc_lane_seq_.end(); ++it) {
    auto lane_info = PredictionMap::LaneById(*it);
    if (lane_info != nullptr && lane_info->IsOnLane(position)) {
      adc_lane_ids_.clear();
      adc_lane_ids_.insert(it, adc_lane_seq_.end());
      break;
    }
  }
  ADEBUG << "Generate an ADC lane ids [" << ToString(adc_lane_ids_) << "].";
}

---

该类的文档由以下文件生成:

• modules/prediction/container/adc_trajectory/adc_trajectory_container.h
• modules/prediction/container/adc_trajectory/adc_trajectory_container.cc