apollo::routing::Navigator类 参考

#include <navigator.h>

apollo::routing::Navigator 的协作图:

Public 成员函数
	Navigator (const std::string &topo_file_path)
	~Navigator ()
bool	IsReady () const
bool	SearchRoute (const routing::RoutingRequest &request, routing::RoutingResponse *const response)

详细描述

在文件 navigator.h 第 29 行定义.

构造及析构函数说明

Navigator()

apollo::routing::Navigator::Navigator ( const std::string &  topo_file_path )

explicit

在文件 navigator.cc 第 97 行定义.

                                                    {
  Graph graph;
  if (!cyber::common::GetProtoFromFile(topo_file_path, &graph)) {
    AERROR << "Failed to read topology graph from " << topo_file_path;
    return;
  }
 
  graph_.reset(new TopoGraph());
  if (!graph_->LoadGraph(graph)) {
    AINFO << "Failed to init navigator graph failed! File path: "
          << topo_file_path;
    return;
  }
  black_list_generator_.reset(new BlackListRangeGenerator);
  result_generator_.reset(new ResultGenerator);
  is_ready_ = true;
  AINFO << "The navigator is ready.";
}

~Navigator()

apollo::routing::Navigator::~Navigator

(

)

在文件 navigator.cc 第 116 行定义.

{}

成员函数说明

IsReady()

bool apollo::routing::Navigator::IsReady

(

)

const

在文件 navigator.cc 第 118 行定义.

{ return is_ready_; }

SearchRoute()

bool apollo::routing::Navigator::SearchRoute	(	const routing::RoutingRequest &	request,
		routing::RoutingResponse *const	response
	)

在文件 navigator.cc 第 206 行定义.

                                                                    {
  if (!ShowRequestInfo(request, graph_.get())) {
    SetErrorCode(ErrorCode::ROUTING_ERROR_REQUEST,
                 "Error encountered when reading request point!",
                 response->mutable_status());
    return false;
  }
 
  if (!IsReady()) {
    SetErrorCode(ErrorCode::ROUTING_ERROR_NOT_READY, "Navigator is not ready!",
                 response->mutable_status());
    return false;
  }
  std::vector<const TopoNode*> way_nodes;
  std::vector<double> way_s;
  if (!Init(request, graph_.get(), &way_nodes, &way_s)) {
    SetErrorCode(ErrorCode::ROUTING_ERROR_NOT_READY,
                 "Failed to initialize navigator!", response->mutable_status());
    return false;
  }
 
  std::vector<NodeWithRange> result_nodes;
  if (!SearchRouteByStrategy(graph_.get(), way_nodes, way_s, &result_nodes)) {
    SetErrorCode(ErrorCode::ROUTING_ERROR_RESPONSE,
                 "Failed to find route with request!",
                 response->mutable_status());
    return false;
  }
  if (result_nodes.empty()) {
    SetErrorCode(ErrorCode::ROUTING_ERROR_RESPONSE, "Failed to result nodes!",
                 response->mutable_status());
    return false;
  }
  result_nodes.front().SetStartS(request.waypoint().begin()->s());
  result_nodes.back().SetEndS(request.waypoint().rbegin()->s());
 
  if (!result_generator_->GeneratePassageRegion(
          graph_->MapVersion(), request, result_nodes, topo_range_manager_,
          response)) {
    SetErrorCode(ErrorCode::ROUTING_ERROR_RESPONSE,
                 "Failed to generate passage regions based on result lanes",
                 response->mutable_status());
    return false;
  }
  SetErrorCode(ErrorCode::OK, "Success!", response->mutable_status());
 
  PrintDebugData(result_nodes);
  return true;
}

---

该类的文档由以下文件生成:

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