#include <cycle_routing_manager.h>

apollo::task_manager::CycleRoutingManager 的协作图:

Public 成员函数
	CycleRoutingManager ()=default

common::Status	Init (const localization::Pose &pose, const task_manager::CycleRoutingTask &cycle_routing_task)
	module initialization function

bool	GetNewRouting (const localization::Pose &pose, external_command::LaneFollowCommand *lane_follow_command)
	Get new routing if the vehicle reaches the begin/end point

int	GetCycle () const
	get remaining cycle number

virtual	~CycleRoutingManager ()=default
	destructor

详细描述

在文件 cycle_routing_manager.h 第 37 行定义.

构造及析构函数说明

◆ CycleRoutingManager()

apollo::task_manager::CycleRoutingManager::CycleRoutingManager ( )

default

◆ ~CycleRoutingManager()

virtual apollo::task_manager::CycleRoutingManager::~CycleRoutingManager ( )

virtualdefault

destructor

成员函数说明

◆ GetCycle()

int apollo::task_manager::CycleRoutingManager::GetCycle ( ) const

inline

get remaining cycle number

返回: remaining cycle number

在文件 cycle_routing_manager.h 第 58 行定义.

58{ return cycle_; }

◆ GetNewRouting()

bool apollo::task_manager::CycleRoutingManager::GetNewRouting	(	const localization::Pose &	pose,
		external_command::LaneFollowCommand *	lane_follow_command
	)

Get new routing if the vehicle reaches the begin/end point

返回: false/true

在文件 cycle_routing_manager.cc 第 54 行定义.

                                                            {
  AINFO << "GetNewRouting: localization_pose: " << pose.position().x() << " "
        << pose.position().y() << ", begin point " << begin_point_.x() << " "
        << begin_point_.y() << ", end point " << end_point_.x() << " "
        << end_point_.y() << ", threshold "
        << FLAGS_task_manager_threshold_for_destination_check
        << ", allowed_to_send_routing_request " << is_allowed_to_route_;
 
  if (is_allowed_to_route_) {
    if (CheckPointDistanceInThreshold(
            begin_point_, pose.position(),
            FLAGS_task_manager_threshold_for_destination_check)) {
      AINFO << "GetNewRouting: reach begin point."
            << "Remaining cycles: " << cycle_;
      lane_follow_command->CopyFrom(original_lane_follow_command_);
      auto cur_point = lane_follow_command->mutable_way_point(0);
      is_allowed_to_route_ = false;
      return true;
    }
  } else {
    if (CheckPointDistanceInThreshold(
            end_point_, pose.position(),
            FLAGS_task_manager_threshold_for_destination_check)) {
      AINFO << "GetNewRouting: reach end point. "
            << "Remaining cycles: " << cycle_;
      lane_follow_command->clear_way_point();
      auto cur_point = lane_follow_command->add_way_point();
      cur_point->Clear();
      cur_point->set_x(pose.position().x());
      cur_point->set_y(pose.position().y());
      cur_point->set_heading(pose.heading());
      auto end_pose = lane_follow_command->mutable_end_pose();
      end_pose->CopyFrom(begin_point_);
      --cycle_;
      is_allowed_to_route_ = true;
      return true;
    }
  }
 
  return false;
}

◆ Init()

common::Status apollo::task_manager::CycleRoutingManager::Init	(	const localization::Pose &	pose,
		const task_manager::CycleRoutingTask &	cycle_routing_task
	)

module initialization function

返回: initialization status

在文件 cycle_routing_manager.cc 第 34 行定义.

                                                {
  cycle_ = cycle_routing_task.cycle_num();
  auto waypoints = cycle_routing_task.lane_follow_command().way_point();
  begin_point_.set_x(pose.position().x());
  begin_point_.set_y(pose.position().y());
  begin_point_.set_heading(pose.heading());
  end_point_ = cycle_routing_task.lane_follow_command().end_pose();
  is_allowed_to_route_ = true;
  original_lane_follow_command_ = cycle_routing_task.lane_follow_command();
  map_service_.reset(new apollo::dreamview::MapService());
 
  AINFO << "New cycle routing task: cycle " << cycle_ << ", begin point "
        << begin_point_.x() << " " << begin_point_.y() << ", end point "
        << end_point_.x() << " " << end_point_.y();
 
  return common::Status::OK();
}

该类的文档由以下文件生成:

modules/task_manager/cycle_routing_manager.h
modules/task_manager/cycle_routing_manager.cc

Public 成员函数