apollo::routing::BlackListRangeGenerator类 参考

#include <black_list_range_generator.h>

apollo::routing::BlackListRangeGenerator 的协作图:

Public 成员函数
	BlackListRangeGenerator ()=default
	~BlackListRangeGenerator ()=default
void	GenerateBlackMapFromRequest (const routing::RoutingRequest &request, const TopoGraph *graph, TopoRangeManager *const range_manager) const
void	AddBlackMapFromTerminal (const TopoNode *src_node, const TopoNode *dest_node, double start_s, double end_s, TopoRangeManager *const range_manager) const

详细描述

在文件 black_list_range_generator.h 第 28 行定义.

构造及析构函数说明

BlackListRangeGenerator()

apollo::routing::BlackListRangeGenerator::BlackListRangeGenerator ( )

default

~BlackListRangeGenerator()

apollo::routing::BlackListRangeGenerator::~BlackListRangeGenerator ( )

default

成员函数说明

AddBlackMapFromTerminal()

void apollo::routing::BlackListRangeGenerator::AddBlackMapFromTerminal	(	const TopoNode *	src_node,
		const TopoNode *	dest_node,
		double	start_s,
		double	end_s,
		TopoRangeManager *const	range_manager
	)		const

在文件 black_list_range_generator.cc 第 129 行定义.

                                                               {
  double start_length = src_node->Length();
  double end_length = dest_node->Length();
 
  static constexpr double kEpsilon = 1e-2;
  const double start_s_adjusted =
      (start_s > start_length && start_s - start_length <= kEpsilon)
          ? start_length
          : start_s;
  const double end_s_adjusted =
      (end_s > end_length && end_s - end_length <= kEpsilon) ? end_length
                                                             : end_s;
 
  if (start_s_adjusted < 0.0 || start_s_adjusted > start_length) {
    AERROR << "Illegal start_s: " << start_s << ", length: " << start_length;
    return;
  }
  if (end_s_adjusted < 0.0 || end_s_adjusted > end_length) {
    AERROR << "Illegal end_s: " << end_s << ", length: " << end_length;
    return;
  }
 
  double start_cut_s = MoveSBackward(start_s_adjusted, 0.0);
  range_manager->Add(src_node, start_cut_s, start_cut_s);
  AddBlackMapFromOutParallel(src_node, start_cut_s / start_length,
                             range_manager);
 
  double end_cut_s = MoveSForward(end_s_adjusted, end_length);
  range_manager->Add(dest_node, end_cut_s, end_cut_s);
  AddBlackMapFromInParallel(dest_node, end_cut_s / end_length, range_manager);
  range_manager->SortAndMerge();
}

GenerateBlackMapFromRequest()

void apollo::routing::BlackListRangeGenerator::GenerateBlackMapFromRequest	(	const routing::RoutingRequest &	request,
		const TopoGraph *	graph,
		TopoRangeManager *const	range_manager
	)		const

在文件 black_list_range_generator.cc 第 121 行定义.

                                                 {
  AddBlackMapFromLane(request, graph, range_manager);
  AddBlackMapFromRoad(request, graph, range_manager);
  range_manager->SortAndMerge();
}

---

该类的文档由以下文件生成:

• modules/routing/core/black_list_range_generator.h
• modules/routing/core/black_list_range_generator.cc