apollo::routing::GraphCreator类 参考

#include <graph_creator.h>

apollo::routing::GraphCreator 的协作图:

Public 成员函数
	GraphCreator (const std::string &base_map_file_path, const std::string &dump_topo_file_path, const RoutingConfig &routing_conf)
	~GraphCreator ()=default
bool	Create ()

详细描述

在文件 graph_creator.h 第 30 行定义.

构造及析构函数说明

GraphCreator()

apollo::routing::GraphCreator::GraphCreator	(	const std::string &	base_map_file_path,
		const std::string &	dump_topo_file_path,
		const RoutingConfig &	routing_conf
	)

在文件 graph_creator.cc 第 56 行定义.

    : base_map_file_path_(base_map_file_path),
      dump_topo_file_path_(dump_topo_file_path),
      routing_conf_(routing_conf) {}

~GraphCreator()

apollo::routing::GraphCreator::~GraphCreator ( )

default

成员函数说明

Create()

bool apollo::routing::GraphCreator::Create

(

)

在文件 graph_creator.cc 第 63 行定义.

                          {
  if (absl::EndsWith(base_map_file_path_, ".xml")) {
    if (!hdmap::adapter::OpendriveAdapter::LoadData(base_map_file_path_,
                                                    &pbmap_)) {
      AERROR << "Failed to load base map file from " << base_map_file_path_;
      return false;
    }
  } else {
    if (!cyber::common::GetProtoFromFile(base_map_file_path_, &pbmap_)) {
      AERROR << "Failed to load base map file from " << base_map_file_path_;
      return false;
    }
  }
 
  AINFO << "Number of lanes: " << pbmap_.lane_size();
 
  graph_.set_hdmap_version(pbmap_.header().version());
  graph_.set_hdmap_district(pbmap_.header().district());
 
  node_index_map_.clear();
  road_id_map_.clear();
  showed_edge_id_set_.clear();
 
  for (const auto& road : pbmap_.road()) {
    for (const auto& section : road.section()) {
      for (const auto& lane_id : section.lane_id()) {
        road_id_map_[lane_id.id()] = road.id().id();
      }
    }
  }
 
  InitForbiddenLanes();
  const double min_turn_radius =
      VehicleConfigHelper::GetConfig().vehicle_param().min_turn_radius();
 
  for (const auto& lane : pbmap_.lane()) {
    const auto& lane_id = lane.id().id();
    if (forbidden_lane_id_set_.find(lane_id) != forbidden_lane_id_set_.end()) {
      ADEBUG << "Ignored lane id: " << lane_id
             << " because its type is NOT CITY_DRIVING.";
      continue;
    }
    if (lane.turn() == hdmap::Lane::U_TURN &&
        !IsValidUTurn(lane, min_turn_radius)) {
      ADEBUG << "The u-turn lane radius is too small for the vehicle to turn";
      continue;
    }
    AINFO << "Current lane id: " << lane_id;
    node_index_map_[lane_id] = graph_.node_size();
    const auto iter = road_id_map_.find(lane_id);
    if (iter != road_id_map_.end()) {
      node_creator::GetPbNode(lane, iter->second, routing_conf_,
                              graph_.add_node());
    } else {
      AWARN << "Failed to find road id of lane " << lane_id;
      node_creator::GetPbNode(lane, "", routing_conf_, graph_.add_node());
    }
  }
 
  for (const auto& lane : pbmap_.lane()) {
    const auto& lane_id = lane.id().id();
    if (forbidden_lane_id_set_.find(lane_id) != forbidden_lane_id_set_.end()) {
      ADEBUG << "Ignored lane id: " << lane_id
             << " because its type is NOT CITY_DRIVING.";
      continue;
    }
    const auto& from_node = graph_.node(node_index_map_[lane_id]);
 
    AddEdge(from_node, lane.successor_id(), Edge::FORWARD);
    if (lane.length() < FLAGS_min_length_for_lane_change) {
      continue;
    }
    if (lane.has_left_boundary() && IsAllowedToCross(lane.left_boundary())) {
      AddEdge(from_node, lane.left_neighbor_forward_lane_id(), Edge::LEFT);
    }
 
    if (lane.has_right_boundary() && IsAllowedToCross(lane.right_boundary())) {
      AddEdge(from_node, lane.right_neighbor_forward_lane_id(), Edge::RIGHT);
    }
  }
 
  if (!absl::EndsWith(dump_topo_file_path_, ".bin") &&
      !absl::EndsWith(dump_topo_file_path_, ".txt")) {
    AERROR << "Failed to dump topo data into file, incorrect file type "
           << dump_topo_file_path_;
    return false;
  }
  auto type_pos = dump_topo_file_path_.find_last_of(".") + 1;
  std::string bin_file = dump_topo_file_path_.replace(type_pos, 3, "bin");
  std::string txt_file = dump_topo_file_path_.replace(type_pos, 3, "txt");
  if (!cyber::common::SetProtoToASCIIFile(graph_, txt_file)) {
    AERROR << "Failed to dump topo data into file " << txt_file;
    return false;
  }
  AINFO << "Txt file is dumped successfully. Path: " << txt_file;
  if (!cyber::common::SetProtoToBinaryFile(graph_, bin_file)) {
    AERROR << "Failed to dump topo data into file " << bin_file;
    return false;
  }
  AINFO << "Bin file is dumped successfully. Path: " << bin_file;
  return true;
}

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该类的文档由以下文件生成:

• modules/routing/topo_creator/graph_creator.h
• modules/routing/topo_creator/graph_creator.cc