apollo::routing::TopoNode类 参考

#include <topo_node.h>

apollo::routing::TopoNode 的协作图:

Public 成员函数
	TopoNode (const Node &node)
	TopoNode (const TopoNode *topo_node, const NodeSRange &range)
	~TopoNode ()
const Node &	PbNode () const
double	Length () const
double	Cost () const
bool	IsVirtual () const
const std::string &	LaneId () const
const std::string &	RoadId () const
const hdmap::Curve &	CentralCurve () const
const common::PointENU &	AnchorPoint () const
const std::vector< NodeSRange > &	LeftOutRange () const
const std::vector< NodeSRange > &	RightOutRange () const
const std::unordered_set< const TopoEdge * > &	InFromAllEdge () const
const std::unordered_set< const TopoEdge * > &	InFromLeftEdge () const
const std::unordered_set< const TopoEdge * > &	InFromRightEdge () const
const std::unordered_set< const TopoEdge * > &	InFromLeftOrRightEdge () const
const std::unordered_set< const TopoEdge * > &	InFromPreEdge () const
const std::unordered_set< const TopoEdge * > &	OutToAllEdge () const
const std::unordered_set< const TopoEdge * > &	OutToLeftEdge () const
const std::unordered_set< const TopoEdge * > &	OutToRightEdge () const
const std::unordered_set< const TopoEdge * > &	OutToLeftOrRightEdge () const
const std::unordered_set< const TopoEdge * > &	OutToSucEdge () const
const TopoEdge *	GetInEdgeFrom (const TopoNode *from_node) const
const TopoEdge *	GetOutEdgeTo (const TopoNode *to_node) const
const TopoNode *	OriginNode () const
double	StartS () const
double	EndS () const
bool	IsSubNode () const
bool	IsInFromPreEdgeValid () const
bool	IsOutToSucEdgeValid () const
bool	IsOverlapEnough (const TopoNode *sub_node, const TopoEdge *edge_for_type) const
void	AddInEdge (const TopoEdge *edge)
void	AddOutEdge (const TopoEdge *edge)

静态 Public 成员函数
static bool	IsOutRangeEnough (const std::vector< NodeSRange > &range_vec, double start_s, double end_s)

详细描述

在文件 topo_node.h 第 32 行定义.

构造及析构函数说明

TopoNode() [1/2]

apollo::routing::TopoNode::TopoNode ( const Node &  node )

explicit

在文件 topo_node.cc 第 97 行定义.

    : pb_node_(node), start_s_(0.0), end_s_(pb_node_.length()) {
  ACHECK(pb_node_.length() > kLenghtEpsilon)
      << "Node length is invalid in pb: " << pb_node_.DebugString();
  Init();
  origin_node_ = this;
}

TopoNode() [2/2]

apollo::routing::TopoNode::TopoNode	(	const TopoNode *	topo_node,
		const NodeSRange &	range
	)

在文件 topo_node.cc 第 105 行定义.

    : TopoNode(topo_node->PbNode()) {
  origin_node_ = topo_node;
  start_s_ = range.StartS();
  end_s_ = range.EndS();
  Init();
}

~TopoNode()

apollo::routing::TopoNode::~TopoNode

(

)

在文件 topo_node.cc 第 113 行定义.

{}

成员函数说明

AddInEdge()

void apollo::routing::TopoNode::AddInEdge

(

const TopoEdge *

edge

)

在文件 topo_node.cc 第 256 行定义.

                                             {
  if (edge->ToNode() != this) {
    return;
  }
  if (in_edge_map_.count(edge->FromNode()) != 0) {
    return;
  }
  switch (edge->Type()) {
    case TET_LEFT:
      in_from_right_edge_set_.insert(edge);
      in_from_left_or_right_edge_set_.insert(edge);
      break;
    case TET_RIGHT:
      in_from_left_edge_set_.insert(edge);
      in_from_left_or_right_edge_set_.insert(edge);
      break;
    default:
      in_from_pre_edge_set_.insert(edge);
      break;
  }
  in_from_all_edge_set_.insert(edge);
  in_edge_map_[edge->FromNode()] = edge;
}

AddOutEdge()

void apollo::routing::TopoNode::AddOutEdge

(

const TopoEdge *

edge

)

在文件 topo_node.cc 第 280 行定义.

                                              {
  if (edge->FromNode() != this) {
    return;
  }
  if (out_edge_map_.count(edge->ToNode()) != 0) {
    return;
  }
  switch (edge->Type()) {
    case TET_LEFT:
      out_to_left_edge_set_.insert(edge);
      out_to_left_or_right_edge_set_.insert(edge);
      break;
    case TET_RIGHT:
      out_to_right_edge_set_.insert(edge);
      out_to_left_or_right_edge_set_.insert(edge);
      break;
    default:
      out_to_suc_edge_set_.insert(edge);
      break;
  }
  out_to_all_edge_set_.insert(edge);
  out_edge_map_[edge->ToNode()] = edge;
}

AnchorPoint()

const common::PointENU & apollo::routing::TopoNode::AnchorPoint

(

)

const

在文件 topo_node.cc 第 170 行定义.

{ return anchor_point_; }

CentralCurve()

const hdmap::Curve & apollo::routing::TopoNode::CentralCurve

(

)

const

在文件 topo_node.cc 第 166 行定义.

                                               {
  return pb_node_.central_curve();
}

Cost()

double apollo::routing::TopoNode::Cost

(

)

const

在文件 topo_node.cc 第 158 行定义.

{ return pb_node_.cost(); }

EndS()

double apollo::routing::TopoNode::EndS

(

)

const

在文件 topo_node.cc 第 234 行定义.

{ return end_s_; }

GetInEdgeFrom()

const TopoEdge * apollo::routing::TopoNode::GetInEdgeFrom

(

const TopoNode *

from_node

)

const

在文件 topo_node.cc 第 222 行定义.

                                                                       {
  return FindPtrOrNull(in_edge_map_, from_node);
}

GetOutEdgeTo()

const TopoEdge * apollo::routing::TopoNode::GetOutEdgeTo

(

const TopoNode *

to_node

)

const

在文件 topo_node.cc 第 226 行定义.

                                                                    {
  return FindPtrOrNull(out_edge_map_, to_node);
}

InFromAllEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::InFromAllEdge

(

)

const

在文件 topo_node.cc 第 180 行定义.

                                                                       {
  return in_from_all_edge_set_;
}

InFromLeftEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::InFromLeftEdge

(

)

const

在文件 topo_node.cc 第 184 行定义.

                                                                        {
  return in_from_left_edge_set_;
}

InFromLeftOrRightEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::InFromLeftOrRightEdge

(

)

const

在文件 topo_node.cc 第 192 行定义.

          {
  return in_from_left_or_right_edge_set_;
}

InFromPreEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::InFromPreEdge

(

)

const

在文件 topo_node.cc 第 197 行定义.

                                                                       {
  return in_from_pre_edge_set_;
}

InFromRightEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::InFromRightEdge

(

)

const

在文件 topo_node.cc 第 188 行定义.

                                                                         {
  return in_from_right_edge_set_;
}

IsInFromPreEdgeValid()

bool apollo::routing::TopoNode::IsInFromPreEdgeValid

(

)

const

在文件 topo_node.cc 第 304 行定义.

                                          {
  return std::fabs(StartS() - OriginNode()->StartS()) < MIN_INTERNAL_FOR_NODE;
}

IsOutRangeEnough()

bool apollo::routing::TopoNode::IsOutRangeEnough ( const std::vector< NodeSRange > &  range_vec, double  start_s, double  end_s  )

static

在文件 topo_node.cc 第 67 行定义.

                                                              {
  if (!NodeSRange::IsEnoughForChangeLane(start_s, end_s)) {
    return false;
  }
  int start_index = BinarySearchForSLarger(range_vec, start_s);
  int end_index = BinarySearchForSSmaller(range_vec, end_s);
 
  int index_diff = end_index - start_index;
  if (start_index < 0 || end_index < 0) {
    return false;
  }
  if (index_diff > 1) {
    return true;
  }
 
  double pre_s_s = std::max(start_s, range_vec[start_index].StartS());
  double suc_e_s = std::min(end_s, range_vec[end_index].EndS());
 
  if (index_diff == 1) {
    double dlt = range_vec[start_index].EndS() - pre_s_s;
    dlt += suc_e_s - range_vec[end_index].StartS();
    return NodeSRange::IsEnoughForChangeLane(dlt);
  }
  if (index_diff == 0) {
    return NodeSRange::IsEnoughForChangeLane(pre_s_s, suc_e_s);
  }
  return false;
}

IsOutToSucEdgeValid()

bool apollo::routing::TopoNode::IsOutToSucEdgeValid

(

)

const

在文件 topo_node.cc 第 308 行定义.

                                         {
  return std::fabs(EndS() - OriginNode()->EndS()) < MIN_INTERNAL_FOR_NODE;
}

IsOverlapEnough()

bool apollo::routing::TopoNode::IsOverlapEnough	(	const TopoNode *	sub_node,
		const TopoEdge *	edge_for_type
	)		const

在文件 topo_node.cc 第 238 行定义.

                                                                    {
  if (edge_for_type->Type() == TET_LEFT) {
    return (is_left_range_enough_ &&
            IsOutRangeEnough(left_out_sorted_range_, sub_node->StartS(),
                             sub_node->EndS()));
  }
  if (edge_for_type->Type() == TET_RIGHT) {
    return (is_right_range_enough_ &&
            IsOutRangeEnough(right_out_sorted_range_, sub_node->StartS(),
                             sub_node->EndS()));
  }
  if (edge_for_type->Type() == TET_FORWARD) {
    return IsOutToSucEdgeValid() && sub_node->IsInFromPreEdgeValid();
  }
  return true;
}

IsSubNode()

bool apollo::routing::TopoNode::IsSubNode

(

)

const

在文件 topo_node.cc 第 236 行定义.

{ return OriginNode() != this; }

IsVirtual()

bool apollo::routing::TopoNode::IsVirtual

(

)

const

在文件 topo_node.cc 第 160 行定义.

{ return pb_node_.is_virtual(); }

LaneId()

const std::string & apollo::routing::TopoNode::LaneId

(

)

const

在文件 topo_node.cc 第 162 行定义.

{ return pb_node_.lane_id(); }

LeftOutRange()

const std::vector< NodeSRange > & apollo::routing::TopoNode::LeftOutRange

(

)

const

在文件 topo_node.cc 第 172 行定义.

                                                          {
  return left_out_sorted_range_;
}

Length()

double apollo::routing::TopoNode::Length

(

)

const

在文件 topo_node.cc 第 156 行定义.

{ return pb_node_.length(); }

OriginNode()

const TopoNode * apollo::routing::TopoNode::OriginNode

(

)

const

在文件 topo_node.cc 第 230 行定义.

{ return origin_node_; }

OutToAllEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::OutToAllEdge

(

)

const

在文件 topo_node.cc 第 201 行定义.

                                                                      {
  return out_to_all_edge_set_;
}

OutToLeftEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::OutToLeftEdge

(

)

const

在文件 topo_node.cc 第 205 行定义.

                                                                       {
  return out_to_left_edge_set_;
}

OutToLeftOrRightEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::OutToLeftOrRightEdge

(

)

const

在文件 topo_node.cc 第 213 行定义.

          {
  return out_to_left_or_right_edge_set_;
}

OutToRightEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::OutToRightEdge

(

)

const

在文件 topo_node.cc 第 209 行定义.

                                                                        {
  return out_to_right_edge_set_;
}

OutToSucEdge()

const std::unordered_set< const TopoEdge * > & apollo::routing::TopoNode::OutToSucEdge

(

)

const

在文件 topo_node.cc 第 218 行定义.

                                                                      {
  return out_to_suc_edge_set_;
}

PbNode()

const Node & apollo::routing::TopoNode::PbNode

(

)

const

在文件 topo_node.cc 第 154 行定义.

{ return pb_node_; }

RightOutRange()

const std::vector< NodeSRange > & apollo::routing::TopoNode::RightOutRange

(

)

const

在文件 topo_node.cc 第 176 行定义.

                                                           {
  return right_out_sorted_range_;
}

RoadId()

const std::string & apollo::routing::TopoNode::RoadId

(

)

const

在文件 topo_node.cc 第 164 行定义.

{ return pb_node_.road_id(); }

StartS()

double apollo::routing::TopoNode::StartS

(

)

const

在文件 topo_node.cc 第 232 行定义.

{ return start_s_; }

---

该类的文档由以下文件生成:

• modules/routing/graph/topo_node.h
• modules/routing/graph/topo_node.cc