#include <sub_topo_graph.h>

apollo::routing::SubTopoGraph 的协作图:

Public 成员函数
	SubTopoGraph (const std::unordered_map< const TopoNode *, std::vector< NodeSRange > > &black_map)

	~SubTopoGraph ()

void	GetSubInEdgesIntoSubGraph (const TopoEdge edge, std::unordered_set< const TopoEdge > *const sub_edges) const

void	GetSubOutEdgesIntoSubGraph (const TopoEdge edge, std::unordered_set< const TopoEdge > *const sub_edges) const

const TopoNode *	GetSubNodeWithS (const TopoNode *topo_node, double s) const

详细描述

在文件 sub_topo_graph.h 第 29 行定义.

构造及析构函数说明

◆ SubTopoGraph()

apollo::routing::SubTopoGraph::SubTopoGraph ( const std::unordered_map< const TopoNode *, std::vector< NodeSRange > > & black_map )

在文件 sub_topo_graph.cc 第 94 行定义.

                   {
  std::vector<NodeSRange> valid_range;
  for (const auto& map_iter : black_map) {
    valid_range.clear();
    GetSortedValidRange(map_iter.first, map_iter.second, &valid_range);
    InitSubNodeByValidRange(map_iter.first, valid_range);
  }
 
  for (const auto& map_iter : black_map) {
    InitSubEdge(map_iter.first);
  }
 
  for (const auto& map_iter : black_map) {
    AddPotentialEdge(map_iter.first);
  }
}

◆ ~SubTopoGraph()

apollo::routing::SubTopoGraph::~SubTopoGraph ( )

在文件 sub_topo_graph.cc 第 113 行定义.

113{}

成员函数说明

◆ GetSubInEdgesIntoSubGraph()

void apollo::routing::SubTopoGraph::GetSubInEdgesIntoSubGraph	(	const TopoEdge *	edge,
		std::unordered_set< const TopoEdge * > *const	sub_edges
	)		const

在文件 sub_topo_graph.cc 第 115 行定义.

                                                              {
  const auto* from_node = edge->FromNode();
  const auto* to_node = edge->ToNode();
  std::unordered_set<TopoNode*> sub_nodes;
  if (from_node->IsSubNode() || to_node->IsSubNode() ||
      !GetSubNodes(to_node, &sub_nodes)) {
    sub_edges->insert(edge);
    return;
  }
  for (const auto* sub_node : sub_nodes) {
    for (const auto* in_edge : sub_node->InFromAllEdge()) {
      if (in_edge->FromNode() == from_node) {
        sub_edges->insert(in_edge);
      }
    }
  }
}

◆ GetSubNodeWithS()

const TopoNode * apollo::routing::SubTopoGraph::GetSubNodeWithS	(	const TopoNode *	topo_node,
		double	s
	)		const

在文件 sub_topo_graph.cc 第 155 行定义.

                                                              {
  const auto& map_iter = sub_node_range_sorted_map_.find(topo_node);
  if (map_iter == sub_node_range_sorted_map_.end()) {
    return topo_node;
  }
  const auto& sorted_vec = map_iter->second;
  // sorted vec can't be empty!
  int index = BinarySearchForStartS(sorted_vec, s);
  if (index < 0) {
    return nullptr;
  }
  return sorted_vec[index].GetTopoNode();
}

◆ GetSubOutEdgesIntoSubGraph()

void apollo::routing::SubTopoGraph::GetSubOutEdgesIntoSubGraph	(	const TopoEdge *	edge,
		std::unordered_set< const TopoEdge * > *const	sub_edges
	)		const

在文件 sub_topo_graph.cc 第 135 行定义.

                                                              {
  const auto* from_node = edge->FromNode();
  const auto* to_node = edge->ToNode();
  std::unordered_set<TopoNode*> sub_nodes;
  if (from_node->IsSubNode() || to_node->IsSubNode() ||
      !GetSubNodes(from_node, &sub_nodes)) {
    sub_edges->insert(edge);
    return;
  }
  for (const auto* sub_node : sub_nodes) {
    for (const auto* out_edge : sub_node->OutToAllEdge()) {
      if (out_edge->ToNode() == to_node) {
        sub_edges->insert(out_edge);
      }
    }
  }
}

该类的文档由以下文件生成:

modules/routing/graph/sub_topo_graph.h
modules/routing/graph/sub_topo_graph.cc

Public 成员函数