apollo::routing::Routing类 参考

#include <routing.h>

apollo::routing::Routing 的协作图:

Public 成员函数
	Routing ()
std::string	Name () const
	module name
apollo::common::Status	Init ()
	module initialization function
apollo::common::Status	Start ()
	module start function
virtual	~Routing ()=default
	destructor
bool	Process (const std::shared_ptr< routing::RoutingRequest > &routing_request, routing::RoutingResponse *const routing_response)

详细描述

在文件 routing.h 第 33 行定义.

构造及析构函数说明

Routing()

apollo::routing::Routing::Routing

(

)

在文件 routing.cc 第 34 行定义.

    : monitor_logger_buffer_(common::monitor::MonitorMessageItem::ROUTING) {}

~Routing()

virtual apollo::routing::Routing::~Routing ( )

virtualdefault

destructor

成员函数说明

Init()

apollo::common::Status apollo::routing::Routing::Init

(

)

module initialization function

返回

initialization status

在文件 routing.cc 第 37 行定义.

                                 {
  const auto routing_map_file = apollo::hdmap::RoutingMapFile();
  AINFO << "Use routing topology graph path: " << routing_map_file;
  navigator_ptr_.reset(new Navigator(routing_map_file));
 
  hdmap_ = apollo::hdmap::HDMapUtil::BaseMapPtr();
  ACHECK(hdmap_) << "Failed to load map file:" << apollo::hdmap::BaseMapFile();
 
  return apollo::common::Status::OK();
}

Name()

std::string apollo::routing::Routing::Name

(

)

const

module name

在文件 routing.cc 第 32 行定义.

{ return FLAGS_routing_node_name; }

Process()

bool apollo::routing::Routing::Process	(	const std::shared_ptr< routing::RoutingRequest > &	routing_request,
		routing::RoutingResponse *const	routing_response
	)

在文件 routing.cc 第 129 行定义.

                                                    {
  if (nullptr == routing_request) {
    AWARN << "Routing request is empty!";
    return true;
  }
  CHECK_NOTNULL(routing_response);
  AINFO << "Get new routing request:" << routing_request->DebugString();
 
  const auto& fixed_requests = FillLaneInfoIfMissing(*routing_request);
  double min_routing_length = std::numeric_limits<double>::max();
  for (const auto& fixed_request : fixed_requests) {
    routing::RoutingResponse routing_response_temp;
    if (navigator_ptr_->SearchRoute(fixed_request, &routing_response_temp)) {
      const double routing_length =
          routing_response_temp.measurement().distance();
      if (routing_length < min_routing_length) {
        routing_response->CopyFrom(routing_response_temp);
        min_routing_length = routing_length;
      }
    }
  }
  if (min_routing_length < std::numeric_limits<double>::max()) {
    monitor_logger_buffer_.INFO("Routing success!");
    return true;
  }
 
  AERROR << "Failed to search route with navigator.";
  monitor_logger_buffer_.WARN("Routing failed! " +
                              routing_response->status().msg());
  return false;
}

Start()

apollo::common::Status apollo::routing::Routing::Start

(

)

module start function

返回

start status

在文件 routing.cc 第 48 行定义.

                                  {
  if (!navigator_ptr_->IsReady()) {
    AERROR << "Navigator is not ready!";
    return apollo::common::Status(ErrorCode::ROUTING_ERROR,
                                  "Navigator not ready");
  }
  AINFO << "Routing service is ready.";
  monitor_logger_buffer_.INFO("Routing started");
  return apollo::common::Status::OK();
}

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该类的文档由以下文件生成:

• modules/routing/routing.h
• modules/routing/routing.cc