apollo::prediction::RoadGraph类 参考

#include <road_graph.h>

apollo::prediction::RoadGraph 的协作图:

Public 成员函数
	RoadGraph (const double start_s, const double length, const bool consider_divide, std::shared_ptr< const hdmap::LaneInfo > lane_info_ptr)
	Constructor
common::Status	BuildLaneGraph (LaneGraph *const lane_graph)
	Build the lane graph.
common::Status	BuildLaneGraphBidirection (LaneGraph *const lane_graph_ptr)
bool	IsOnLaneGraph (std::shared_ptr< const hdmap::LaneInfo > lane_info_ptr, const LaneGraph &lane_graph)
	Check if a lane with an s is on the lane graph

详细描述

在文件 road_graph.h 第 31 行定义.

构造及析构函数说明

RoadGraph()

apollo::prediction::RoadGraph::RoadGraph	(	const double	start_s,
		const double	length,
		const bool	consider_divide,
		std::shared_ptr< const hdmap::LaneInfo >	lane_info_ptr
	)

Constructor

参数

start_s	The starting longitudinal s value.
length	The length to build the road graph.
If	consider all successor lanes after dividing.
lane_info_ptr	The starting lane.

在文件 road_graph.cc 第 86 行定义.

    : start_s_(start_s),
      length_(length),
      consider_divide_(consider_divide),
      lane_info_ptr_(lane_info_ptr) {}

成员函数说明

BuildLaneGraph()

Status apollo::prediction::RoadGraph::BuildLaneGraph

(

LaneGraph *const

lane_graph

)

Build the lane graph.

参数

The	built lane graph.

返回

The status of the road graph building.

在文件 road_graph.cc 第 94 行定义.

                                                                {
  // Sanity checks.
  if (length_ < 0.0 || lane_info_ptr_ == nullptr) {
    const auto error_msg = absl::StrCat(
        "Invalid road graph settings. Road graph length = ", length_);
    AERROR << error_msg;
    return Status(ErrorCode::PREDICTION_ERROR, error_msg);
  }
  if (lane_graph_ptr == nullptr) {
    const auto error_msg = "Invalid input lane graph.";
    AERROR << error_msg;
    return Status(ErrorCode::PREDICTION_ERROR, error_msg);
  }
 
  // Run the recursive function to perform DFS.
  std::list<LaneSegment> lane_segments;
  double accumulated_s = 0.0;
  ConstructLaneSequence(accumulated_s, start_s_, lane_info_ptr_,
                        FLAGS_road_graph_max_search_horizon, consider_divide_,
                        &lane_segments, lane_graph_ptr);
 
  return Status::OK();
}

BuildLaneGraphBidirection()

Status apollo::prediction::RoadGraph::BuildLaneGraphBidirection

(

LaneGraph *const

lane_graph_ptr

)

在文件 road_graph.cc 第 118 行定义.

                                                                           {
  // Sanity checks.
  if (length_ < 0.0 || lane_info_ptr_ == nullptr) {
    const auto error_msg = absl::StrCat(
        "Invalid road graph settings. Road graph length = ", length_);
    AERROR << error_msg;
    return Status(ErrorCode::PREDICTION_ERROR, error_msg);
  }
  if (lane_graph_ptr == nullptr) {
    const auto error_msg = "Invalid input lane graph.";
    AERROR << error_msg;
    return Status(ErrorCode::PREDICTION_ERROR, error_msg);
  }
 
  // Run the recursive function to perform DFS.
  std::list<LaneSegment> lane_segments;
  LaneGraph lane_graph_successor;
  ConstructLaneSequence(true, 0.0, start_s_, lane_info_ptr_,
                        FLAGS_road_graph_max_search_horizon, consider_divide_,
                        &lane_segments, &lane_graph_successor);
  lane_segments.clear();
  LaneGraph lane_graph_predecessor;
  length_ = length_ / 2.0;
  ConstructLaneSequence(false, 0.0, start_s_, lane_info_ptr_,
                        FLAGS_road_graph_max_search_horizon, consider_divide_,
                        &lane_segments, &lane_graph_predecessor);
  *lane_graph_ptr =
      CombineLaneGraphs(lane_graph_predecessor, lane_graph_successor);
 
  return Status::OK();
}

IsOnLaneGraph()

bool apollo::prediction::RoadGraph::IsOnLaneGraph	(	std::shared_ptr< const hdmap::LaneInfo >	lane_info_ptr,
		const LaneGraph &	lane_graph
	)

Check if a lane with an s is on the lane graph

参数

Lane	ID
Lane	s
The	pointer to the given lane graph

返回

If the given lane ID and lane s is on the lane graph

在文件 road_graph.cc 第 182 行定义.

                                                           {
  if (!lane_graph.IsInitialized()) {
    return false;
  }
 
  for (const auto& lane_sequence : lane_graph.lane_sequence()) {
    for (const auto& lane_segment : lane_sequence.lane_segment()) {
      if (lane_segment.has_lane_id() &&
          lane_segment.lane_id() == lane_info_ptr->id().id()) {
        return true;
      }
    }
  }
  return false;
}

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该类的文档由以下文件生成:

• modules/prediction/common/road_graph.h
• modules/prediction/common/road_graph.cc