apollo::storytelling::CloseToJunctionTeller类 参考

#include <close_to_junction_teller.h>

类 apollo::storytelling::CloseToJunctionTeller 继承关系图:

apollo::storytelling::CloseToJunctionTeller 的协作图:

Public 成员函数
	CloseToJunctionTeller ()=delete
	CloseToJunctionTeller (const std::shared_ptr< FrameManager > &frame_manager)
void	Init (const StorytellingConfig &storytelling_conf) override
void	Update (Stories *stories) override
Public 成员函数 继承自 apollo::storytelling::BaseTeller
	BaseTeller (const std::shared_ptr< FrameManager > &frame_manager)
virtual	~BaseTeller ()=default

额外继承的成员函数
Protected 属性 继承自 apollo::storytelling::BaseTeller
std::shared_ptr< FrameManager >	frame_manager_

详细描述

在文件 close_to_junction_teller.h 第 28 行定义.

构造及析构函数说明

CloseToJunctionTeller() [1/2]

apollo::storytelling::CloseToJunctionTeller::CloseToJunctionTeller ( )

delete

CloseToJunctionTeller() [2/2]

apollo::storytelling::CloseToJunctionTeller::CloseToJunctionTeller ( const std::shared_ptr< FrameManager > &  frame_manager )

inlineexplicit

在文件 close_to_junction_teller.h 第 31 行定义.

      : BaseTeller(frame_manager) {}

成员函数说明

Init()

void apollo::storytelling::CloseToJunctionTeller::Init ( const StorytellingConfig &  storytelling_conf )

overridevirtual

实现了 apollo::storytelling::BaseTeller.

在文件 close_to_junction_teller.cc 第 241 行定义.

                                                                            {
  config_.CopyFrom(storytelling_conf);
  frame_manager_->CreateOrGetReader<ADCTrajectory>(
      config_.topic_config().planning_trajectory_topic());
}

Update()

void apollo::storytelling::CloseToJunctionTeller::Update ( Stories *  stories )

overridevirtual

实现了 apollo::storytelling::BaseTeller.

在文件 close_to_junction_teller.cc 第 247 行定义.

                                                   {
  static auto planning_reader =
      frame_manager_->CreateOrGetReader<ADCTrajectory>(
          config_.topic_config().planning_trajectory_topic());
  const auto trajectory = planning_reader->GetLatestObserved();
  if (trajectory == nullptr || trajectory->trajectory_point().empty()) {
    AERROR << "Planning trajectory not ready.";
    return;
  }
 
  GetOverlaps(*trajectory);
 
  // CloseToClearArea
  if (!clear_area_id_.empty() && clear_area_distance_ >= 0) {
    if (!stories->has_close_to_clear_area()) {
      AINFO << "Enter CloseToClearArea story";
    }
    auto* story = stories->mutable_close_to_clear_area();
    story->set_id(clear_area_id_);
    story->set_distance(clear_area_distance_);
  } else if (stories->has_close_to_clear_area()) {
    AINFO << "Exit CloseToClearArea story";
    stories->clear_close_to_clear_area();
  }
 
  // CloseToCrosswalk
  if (!crosswalk_id_.empty() && crosswalk_distance_ >= 0) {
    if (!stories->has_close_to_crosswalk()) {
      AINFO << "Enter CloseToCrosswalk story";
    }
    auto* story = stories->mutable_close_to_crosswalk();
    story->set_id(crosswalk_id_);
    story->set_distance(crosswalk_distance_);
  } else if (stories->has_close_to_crosswalk()) {
    AINFO << "Exit CloseToCrosswalk story";
    stories->clear_close_to_crosswalk();
  }
 
  // CloseToJunction
  if ((!junction_id_.empty() && junction_distance_ >= 0) ||
      (!pnc_junction_id_.empty() && pnc_junction_distance_ >= 0)) {
    if (!stories->has_close_to_junction()) {
      AINFO << "Enter CloseToJunction story";
    }
    auto* story = stories->mutable_close_to_junction();
    if (!pnc_junction_id_.empty() && pnc_junction_distance_ >= 0) {
      story->set_id(pnc_junction_id_);
      story->set_type(CloseToJunction::PNC_JUNCTION);
      story->set_distance(pnc_junction_distance_);
    } else {
      story->set_id(junction_id_);
      story->set_type(CloseToJunction::JUNCTION);
      story->set_distance(junction_distance_);
    }
  } else if (stories->has_close_to_junction()) {
    AINFO << "Exit CloseToJunction story";
    stories->clear_close_to_junction();
  }
 
  // CloseToSignal
  if (!signal_id_.empty() && signal_distance_ >= 0) {
    if (!stories->has_close_to_signal()) {
      AINFO << "Enter CloseToSignal story";
    }
    auto* story = stories->mutable_close_to_signal();
    story->set_id(signal_id_);
    story->set_distance(signal_distance_);
  } else if (stories->has_close_to_signal()) {
    AINFO << "Exit CloseToSignal story";
    stories->clear_close_to_signal();
  }
 
  // CloseToStopSign
  if (!stop_sign_id_.empty() && stop_sign_distance_ >= 0) {
    if (!stories->has_close_to_stop_sign()) {
      AINFO << "Enter CloseToStopSign story";
    }
    auto* story = stories->mutable_close_to_stop_sign();
    story->set_id(stop_sign_id_);
    story->set_distance(stop_sign_distance_);
  } else if (stories->has_close_to_stop_sign()) {
    AINFO << "Exit CloseToStopSign story";
    stories->clear_close_to_stop_sign();
  }
 
  // CloseToYieldSign
  if (!yield_sign_id_.empty() && yield_sign_distance_ >= 0) {
    if (!stories->has_close_to_yield_sign()) {
      AINFO << "Enter CloseToYieldSign story";
    }
    auto* story = stories->mutable_close_to_yield_sign();
    story->set_id(yield_sign_id_);
    story->set_distance(yield_sign_distance_);
  } else if (stories->has_close_to_yield_sign()) {
    AINFO << "Exit CloseToYieldSign story";
    stories->clear_close_to_yield_sign();
  }
}

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该类的文档由以下文件生成:

• modules/storytelling/story_tellers/close_to_junction_teller.h
• modules/storytelling/story_tellers/close_to_junction_teller.cc