apollo::prediction::CruiseScenarioFeatures类 参考

#include <cruise_scenario_features.h>

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

apollo::prediction::CruiseScenarioFeatures 的协作图:

Public 成员函数
	CruiseScenarioFeatures ()
virtual	~CruiseScenarioFeatures ()
bool	IsLaneOfInterest (const std::string &lane_id) const
void	InsertLaneOfInterest (const std::string &lane_id)
void	BuildCruiseScenarioFeatures (const EnvironmentFeatures &environment_features)
Public 成员函数 继承自 apollo::prediction::ScenarioFeatures
	ScenarioFeatures ()
virtual	~ScenarioFeatures ()=default
const Scenario &	scenario () const

额外继承的成员函数
Protected 属性 继承自 apollo::prediction::ScenarioFeatures
Scenario	scenario_

详细描述

在文件 cruise_scenario_features.h 第 32 行定义.

构造及析构函数说明

CruiseScenarioFeatures()

apollo::prediction::CruiseScenarioFeatures::CruiseScenarioFeatures

(

)

在文件 cruise_scenario_features.cc 第 32 行定义.

                                               {
  scenario_.set_type(Scenario::CRUISE);
}

~CruiseScenarioFeatures()

apollo::prediction::CruiseScenarioFeatures::~CruiseScenarioFeatures ( )

virtual

在文件 cruise_scenario_features.cc 第 36 行定义.

{}

成员函数说明

BuildCruiseScenarioFeatures()

void apollo::prediction::CruiseScenarioFeatures::BuildCruiseScenarioFeatures

(

const EnvironmentFeatures &

environment_features

)

在文件 cruise_scenario_features.cc 第 47 行定义.

                                                     {
  // Forward lanes
  if (environment_features.has_ego_lane()) {
    auto ego_lane = environment_features.GetEgoLane();
    const std::string& ego_lane_id = ego_lane.first;
    double ego_lane_s = ego_lane.second;
    SearchForwardAndInsert(ego_lane_id, ego_lane_s, 50.0);
  }
  if (environment_features.has_left_neighbor_lane()) {
    auto left_lane = environment_features.GetLeftNeighborLane();
    const std::string& left_lane_id = left_lane.first;
    double left_lane_s = left_lane.second;
    SearchForwardAndInsert(left_lane_id, left_lane_s, 50.0);
  }
  if (environment_features.has_right_neighbor_lane()) {
    auto right_lane = environment_features.GetRightNeighborLane();
    const std::string& right_lane_id = right_lane.first;
    double right_lane_s = right_lane.second;
    SearchForwardAndInsert(right_lane_id, right_lane_s, 50.0);
  }
 
  // Reverse lanes
  const std::unordered_set<std::string>& reverse_lane_ids =
      environment_features.nonneglectable_reverse_lanes();
  if (reverse_lane_ids.empty()) {
    ADEBUG << "No reverse lane considered";
  }
  for (const std::string& reverse_lane_id : reverse_lane_ids) {
    lane_ids_of_interest_.insert(reverse_lane_id);
  }
  for (const std::string& reverse_lane_id : reverse_lane_ids) {
    std::shared_ptr<const LaneInfo> reverse_lane_info =
        PredictionMap::LaneById(reverse_lane_id);
    for (const auto& prede_id : reverse_lane_info->lane().predecessor_id()) {
      lane_ids_of_interest_.insert(prede_id.id());
    }
  }
}

InsertLaneOfInterest()

void apollo::prediction::CruiseScenarioFeatures::InsertLaneOfInterest

(

const std::string &

lane_id

)

在文件 cruise_scenario_features.cc 第 43 行定义.

                                                                          {
  lane_ids_of_interest_.insert(lane_id);
}

IsLaneOfInterest()

bool apollo::prediction::CruiseScenarioFeatures::IsLaneOfInterest

(

const std::string &

lane_id

)

const

在文件 cruise_scenario_features.cc 第 38 行定义.

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

---

该类的文档由以下文件生成:

• modules/prediction/scenario/scenario_features/cruise_scenario_features.h
• modules/prediction/scenario/scenario_features/cruise_scenario_features.cc