Apollo 10.0
自动驾驶开放平台
|
命名空间 | |
namespace | autotuning |
namespace | util |
类型定义 | |
using | State = std::array< double, 3 > |
using | Condition = std::pair< State, double > |
typedef std::vector< std::shared_ptr< Curve1d > > | Trajectory1DBundle |
using | Trajectory1d = Curve1d |
using | PtrTrajectory1d = std::shared_ptr< Trajectory1d > |
using | Trajectory1dPair = std::pair< std::shared_ptr< Curve1d >, std::shared_ptr< Curve1d > > |
typedef IndexedList< std::string, Obstacle > | IndexedObstacles |
typedef ThreadSafeIndexedList< std::string, Obstacle > | ThreadSafeIndexedObstacles |
typedef std::pair< DiscretizedTrajectory, canbus::Chassis::GearPosition > | TrajGearPair |
using | PathBound = std::vector< PathBoundPoint > |
using | MapPath = hdmap::Path |
using | PathPointDecision = std::tuple< double, PathData::PathPointType, double > |
using | ObstacleEdge = std::tuple< int, double, double, double, std::string > |
using | SLState = std::pair< std::array< double, 3 >, std::array< double, 3 > > |
using | StopSignLaneVehicles = std::unordered_map< std::string, std::vector< std::string > > |
using | CrosswalkToStop = std::vector< std::pair< const hdmap::PathOverlap *, std::vector< std::string > > > |
using | CrosswalkStopTimer = std::unordered_map< std::string, std::unordered_map< std::string, double > > |
函数 | |
DEFINE_double (look_backward_distance, 50, "look backward this distance when creating reference line from routing") | |
DEFINE_double (look_forward_short_distance, 180, "short look forward this distance when creating reference line " "from routing when ADC is slow") | |
DEFINE_double (look_forward_long_distance, 250, "look forward this distance when creating reference line from routing") | |
DECLARE_double (look_backward_distance) | |
DECLARE_double (look_forward_short_distance) | |
DECLARE_double (look_forward_long_distance) | |
Status | AddTrafficDecisionConstraints () |
bool | IsNonmovableObstacle (const ReferenceLineInfo &reference_line_info, const Obstacle &obstacle) |
bool | IsBlockingObstacleToSidePass (const Frame &frame, const Obstacle *obstacle, double block_obstacle_min_speed, double min_front_sidepass_distance, bool enable_obstacle_blocked_check) |
Decide whether an obstacle is a blocking one that needs to be side-passed. | |
double | GetDistanceBetweenADCAndObstacle (const Frame &frame, const Obstacle *obstacle) |
bool | IsBlockingDrivingPathObstacle (const ReferenceLine &reference_line, const Obstacle *obstacle) |
bool | IsParkedVehicle (const ReferenceLine &reference_line, const Obstacle *obstacle) |
bool | IsBlockingObstacleFarFromIntersection (const ReferenceLineInfo &reference_line_info, const std::string &blocking_obstacle_id) |
double | DistanceBlockingObstacleToIntersection (const ReferenceLineInfo &reference_line_info, const std::string &blocking_obstacle_id) |
double | DistanceBlockingObstacleToJunction (const ReferenceLineInfo &reference_line_info, const std::string &blocking_obstacle_id) |
bool | IsBlockingObstacleWithinDestination (const ReferenceLineInfo &reference_line_info, const std::string &blocking_obstacle_id, const double threshold) |
void | CopyTrajectory (const DiscretizedTrajectory trajectory_src, apollo::common::Trajectory *trajectory_tgt_ptr) |
bool | WithinOverlap (const hdmap::PathOverlap &overlap, double s) |
void | EvaluateTrajectory () |
void | GenerateLearningData () |
DEFINE_string (test_data_dir, "", "the test data folder") | |
DEFINE_bool (test_update_golden_log, false, "true to update decision golden log file.") | |
DEFINE_string (test_routing_response_file, "", "The routing file used in test") | |
DEFINE_string (test_localization_file, "", "The localization test file") | |
DEFINE_string (test_chassis_file, "", "The chassis test file") | |
DEFINE_string (test_planning_config_file, "", "planning config file for test") | |
DEFINE_string (test_prediction_file, "", "The prediction module test file") | |
DEFINE_string (test_traffic_light_file, "", "The traffic light test file") | |
DEFINE_string (test_relative_map_file, "", "The relative map test file") | |
DEFINE_string (test_previous_planning_file, "", "The previous planning test file") | |
DECLARE_string (test_routing_response_file) | |
DECLARE_string (test_localization_file) | |
DECLARE_string (test_chassis_file) | |
DECLARE_string (test_data_dir) | |
DECLARE_string (test_prediction_file) | |
DECLARE_string (test_traffic_light_file) | |
DECLARE_string (test_relative_map_file) | |
DECLARE_string (test_previous_planning_file) | |
void | SetChartminmax (apollo::dreamview::Chart *chart, std::string label_name_x, std::string label_name_y) |
void | PopulateChartOptions (double x_min, double x_max, std::string x_label, double y_min, double y_max, std::string y_label, bool display, Chart *chart) |
void | AddSTGraph (const STGraphDebug &st_graph, Chart *chart) |
void | AddSLFrame (const SLFrameDebug &sl_frame, Chart *chart) |
void | AddSpeedPlan (const ::google::protobuf::RepeatedPtrField< SpeedPlan > &speed_plans, Chart *chart) |
bool | IsClearToChangeLane (ReferenceLineInfo *reference_line_info) |
A static function to check if the ChangeLanePath type of reference line is safe or if current reference line is safe to deviate away and come back | |
bool | IsPerceptionBlocked (const ReferenceLineInfo &reference_line_info, const double search_beam_length, const double search_beam_radius_intensity, const double search_range, const double is_block_angle_threshold) |
A static function to estimate if an obstacle in certain range in front of ADV blocks too much space perception behind itself by beam scanning | |
bool | HysteresisFilter (const double obstacle_distance, const double safe_distance, const double distance_buffer, const bool is_obstacle_blocking) |
void | UpdatePreparationDistance (const bool is_opt_succeed, const Frame *frame, const ReferenceLineInfo *const reference_line_info, PlanningContext *planning_context) |
A static function to update the prepararion distance for lane change | |
HybridAStar * | CreateHybridAPtr () |
ObstacleContainer * | DistanceCreateObstaclesPtr () |
ResultContainer * | DistanceCreateResultPtr () |
void | AddObstacle (ObstacleContainer *obstacles_ptr, const double *ROI_distance_approach_parking_boundary) |
double | InterpolateUsingLinearApproximation (const double p0, const double p1, const double w) |
std::vector< double > | VectorLinearInterpolation (const std::vector< double > &x, int extend_size) |
bool | DistanceSmoothing (const apollo::planning::PlannerOpenSpaceConfig &planner_open_space_config, const ObstacleContainer &obstacles, double sx, double sy, double sphi, double ex, double ey, double ephi, const std::vector< double > &XYbounds, HybridAStartResult *hybrid_a_star_result, Eigen::MatrixXd *state_result_ds_, Eigen::MatrixXd *control_result_ds_, Eigen::MatrixXd *time_result_ds_, Eigen::MatrixXd *dual_l_result_ds_, Eigen::MatrixXd *dual_n_result_ds_, double &dual_time, double &ipopt_time) |
bool | DistancePlan (HybridAStar *hybridA_ptr, ObstacleContainer *obstacles_ptr, ResultContainer *result_ptr, double sx, double sy, double sphi, double ex, double ey, double ephi, double *XYbounds) |
void | DistanceGetResult (ResultContainer *result_ptr, ObstacleContainer *obstacles_ptr, double *x, double *y, double *phi, double *v, double *a, double *steer, double *opt_x, double *opt_y, double *opt_phi, double *opt_v, double *opt_a, double *opt_steer, double *opt_time, double *opt_dual_l, double *opt_dual_n, size_t *output_size, double *hybrid_time, double *dual_time, double *ipopt_time) |
HybridAStar * | CreatePlannerPtr () |
HybridAObstacleContainer * | CreateObstaclesPtr () |
HybridASoftBoundaryContainer * | CreateSoftBoundaryPtr () |
HybridAResultContainer * | CreateResultPtr () |
void | AddVirtualObstacle (HybridAObstacleContainer *obstacles_ptr, double *obstacle_x, double *obstacle_y, int vertice_num) |
void | AddVirtualSoftBoundary (HybridASoftBoundaryContainer *soft_boundary_ptr, double *soft_boundary_x, double *soft_boundary_y, int vertice_num) |
bool | Plan (HybridAStar *planner_ptr, HybridAObstacleContainer *obstacles_ptr, HybridASoftBoundaryContainer *soft_boundary_ptr, HybridAResultContainer *result_ptr, double sx, double sy, double sphi, double ex, double ey, double ephi, double *XYbounds) |
void | GetResult (HybridAResultContainer *result_ptr, double *x, double *y, double *phi, double *v, double *a, double *steer, size_t *output_size) |
OpenSpaceROITest * | CreateROITestPtr () |
bool | ROITest (OpenSpaceROITest *test_ptr, char *lane_id, char *parking_id, double *unrotated_roi_boundary_x, double *unrotated_roi_boundary_y, double *roi_boundary_x, double *roi_boundary_y, double *parking_spot_x, double *parking_spot_y, double *end_pose, double *xy_boundary, double *origin_pose) |
void | printMatrix (const int r, const int c, const std::vector< c_float > &P_data, const std::vector< c_int > &P_indices, const std::vector< c_int > &P_indptr) |
bool | InitialCuda () |
__global__ void | fill_lower_left_gpu (int *iRow, int *jCol, unsigned int *rind_L, unsigned int *cind_L, const int nnz_L) |
template<typename T > | |
__global__ void | data_transfer_gpu (T *dst, const T *src, const int size) |
bool | fill_lower_left (int *iRow, int *jCol, unsigned int *rind_L, unsigned int *cind_L, const int nnz_L) |
template<typename T > | |
bool | data_transfer (T *dst, const T *src, const int size) |
bool | CheckADCReadyToCruise (const common::VehicleStateProvider *vehicle_state_provider, Frame *frame, const apollo::planning::ScenarioParkAndGoConfig &scenario_config) |
bool | CheckADCSurroundObstacles (const common::math::Vec2d adc_position, const double adc_heading, Frame *frame, const double front_obstacle_buffer) |
: front obstacle is far enough before PardAndGo cruise stage (adc_position: center of rear wheel) | |
bool | CheckADCHeading (const common::math::Vec2d adc_position, const double adc_heading, const ReferenceLineInfo &reference_line_info, const double heading_diff_to_reference_line) |
Park_and_go: heading angle should be close to reference line before PardAndGo cruise stage | |
PullOverState | CheckADCPullOver (const common::VehicleStateProvider *vehicle_state_provider, const ReferenceLineInfo &reference_line_info, const ScenarioPullOverConfig &scenario_config, const PlanningContext *planning_context) |
: check adc parked properly | |
PullOverState | CheckADCPullOverPathPoint (const ReferenceLineInfo &reference_line_info, const ScenarioPullOverConfig &scenario_config, const common::PathPoint &path_point, const PlanningContext *planning_context) |
: check path data to see properly | |
bool | CheckPullOverPositionBySL (const ReferenceLineInfo &reference_line_info, const ScenarioPullOverConfig &scenario_config, const common::math::Vec2d &adc_position, const double adc_theta, const common::math::Vec2d &target_position, const double target_theta, const bool check_s) |
bool | ComparePathData (const PathData &lhs, const PathData &rhs, const Obstacle *blocking_obstacle) |
int | ContainsOutOnReverseLane (const std::vector< PathPointDecision > &path_point_decision) |
int | GetBackToInLaneIndex (const std::vector< PathPointDecision > &path_point_decision) |
int | ContainsOutOnReverseLane (const std::vector< std::tuple< double, PathData::PathPointType, double > > &path_point_decision) |
int | GetBackToInLaneIndex (const std::vector< std::tuple< double, PathData::PathPointType, double > > &path_point_decision) |
变量 | |
constexpr double | kAdcDistanceThreshold = 35.0 |
constexpr double | kObstaclesDistanceThreshold = 15.0 |
constexpr double | kIntersectionClearanceDist = 20.0 |
constexpr double | kJunctionClearanceDist = 15.0 |
constexpr double | kObsSpeedIgnoreThreshold = 100.0 |
constexpr double | kMinObstacleArea = 1e-4 |
constexpr double | kPathOptimizationFallbackCost = 2e4 |
constexpr double | kSpeedOptimizationFallbackCost = 2e4 |
constexpr double | kMathEpsilon = 1e-10 |
constexpr double | kSTBoundsDeciderResolution = 0.1 |
constexpr double | kSTPassableThreshold = 3.0 |
constexpr double | kSpeedGuideLineResolution = 0.1 |
constexpr double | kADCSafetyLBuffer = 0.1 |
constexpr double | kSIgnoreThreshold = 0.01 |
constexpr double | kTIgnoreThreshold = 0.1 |
constexpr double | kOvertakenObsCautionTime = 0.5 |
typedef std::pair< State, double > apollo::planning::Condition |
在文件 end_condition_sampler.cc 第 32 行定义.
using apollo::planning::CrosswalkStopTimer = typedef std::unordered_map<std::string, std::unordered_map<std::string, double> > |
在文件 crosswalk.cc 第 55 行定义.
using apollo::planning::CrosswalkToStop = typedef std::vector<std::pair<const hdmap::PathOverlap*, std::vector<std::string> >> |
在文件 crosswalk.cc 第 53 行定义.
typedef IndexedList<std::string, Obstacle> apollo::planning::IndexedObstacles |
在文件 obstacle.h 第 293 行定义.
using apollo::planning::MapPath = typedef hdmap::Path |
在文件 reference_line.cc 第 44 行定义.
using apollo::planning::ObstacleEdge = typedef std::tuple<int, double, double, double, std::string> |
在文件 path_bounds_decider_util.h 第 32 行定义.
using apollo::planning::PathBound = typedef std::vector<PathBoundPoint> |
在文件 path_boundary.h 第 92 行定义.
using apollo::planning::PathPointDecision = typedef std::tuple<double, PathData::PathPointType, double> |
在文件 path_assessment_decider_util.h 第 30 行定义.
using apollo::planning::PtrTrajectory1d = typedef std::shared_ptr<Trajectory1d> |
在文件 trajectory_evaluator.cc 第 41 行定义.
typedef std::pair< std::array< double, 3 >, std::array< double, 3 > > apollo::planning::SLState |
在文件 path_bounds_decider_util.h 第 34 行定义.
typedef std::array< double, 3 > apollo::planning::State |
在文件 backup_trajectory_generator.cc 第 25 行定义.
typedef std::unordered_map< std::string, std::vector< std::string > > apollo::planning::StopSignLaneVehicles |
在文件 stage_pre_stop.cc 第 50 行定义.
typedef ThreadSafeIndexedList<std::string, Obstacle> apollo::planning::ThreadSafeIndexedObstacles |
在文件 obstacle.h 第 294 行定义.
using apollo::planning::Trajectory1d = typedef Curve1d |
在文件 trajectory_evaluator.cc 第 40 行定义.
typedef std::vector<std::shared_ptr<Curve1d> > apollo::planning::Trajectory1DBundle |
在文件 trajectory1d_generator.cc 第 38 行定义.
using apollo::planning::Trajectory1dPair = typedef std::pair<std::shared_ptr<Curve1d>, std::shared_ptr<Curve1d> > |
在文件 trajectory_evaluator.cc 第 42 行定义.
typedef std::pair<DiscretizedTrajectory, canbus::Chassis::GearPosition> apollo::planning::TrajGearPair |
在文件 open_space_info.h 第 51 行定义.
枚举值 | |
---|---|
DISTANCE_APPROACH_IPOPT | |
DISTANCE_APPROACH_IPOPT_CUDA | |
DISTANCE_APPROACH_IPOPT_FIXED_TS | |
DISTANCE_APPROACH_IPOPT_FIXED_DUAL | |
DISTANCE_APPROACH_IPOPT_RELAX_END | |
DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK |
在文件 planner_open_space_config.proto 第 15 行定义.
枚举值 | |
---|---|
DUAL_VARIABLE_IPOPT | |
DUAL_VARIABLE_IPOPTQP | |
DUAL_VARIABLE_OSQP | |
DUAL_VARIABLE_DEBUG |
在文件 planner_open_space_config.proto 第 292 行定义.
枚举值 | |
---|---|
UNKNOWN | |
IN_ROAD | |
CROSS_ROAD | |
FORK_ROAD | |
MAIN_SIDE | |
DEAD_END |
在文件 planning.proto 第 47 行定义.
|
strong |
枚举值 | |
---|---|
LEFT_BORROW | |
NO_BORROW | |
RIGHT_BORROW |
在文件 path_bounds_decider_util.h 第 36 行定义.
枚举值 | |
---|---|
NAVI_OBSTACLE_DECIDER | |
NAVI_PATH_DECIDER | |
NAVI_SPEED_DECIDER |
在文件 navi_task_config.proto 第 5 行定义.
|
strong |
枚举值 | |
---|---|
NO_PARKING | |
PARALLEL_PARKING | |
VERTICAL_PARKING |
在文件 open_space_info.h 第 48 行定义.
|
strong |
枚举值 | |
---|---|
UNKNOWN | |
APPROACHING | |
PARK_COMPLETE | |
PARK_FAIL | |
PASS_DESTINATION |
|
strong |
枚举值 | |
---|---|
STATUS_UNKNOWN | |
STATUS_PROCESSING | |
STATUS_DONE |
在文件 process_result.h 第 41 行定义.
|
strong |
枚举值 | |
---|---|
ERROR | |
READY | |
RUNNING | |
FINISHED |
在文件 process_result.h 第 34 行定义.
|
strong |
枚举值 | |
---|---|
DESTINATION | |
CROSSWALK | |
TRAFFIC_LIGHT | |
CLEAR_ZONE | |
REROUTE | |
DECISION_JUMP | |
PRIORITY |
在文件 decision_data.h 第 27 行定义.
void apollo::planning::AddObstacle | ( | ObstacleContainer * | obstacles_ptr, |
const double * | ROI_distance_approach_parking_boundary | ||
) |
在文件 distance_approach_problem_wrapper.cc 第 228 行定义.
void apollo::planning::AddSLFrame | ( | const SLFrameDebug & | sl_frame, |
Chart * | chart | ||
) |
在文件 on_lane_planning.cc 第 765 行定义.
void apollo::planning::AddSpeedPlan | ( | const ::google::protobuf::RepeatedPtrField< SpeedPlan > & | speed_plans, |
Chart * | chart | ||
) |
在文件 on_lane_planning.cc 第 778 行定义.
void apollo::planning::AddSTGraph | ( | const STGraphDebug & | st_graph, |
Chart * | chart | ||
) |
在文件 on_lane_planning.cc 第 717 行定义.
Status apollo::planning::AddTrafficDecisionConstraints | ( | ) |
在文件 navi_speed_decider.cc 第 357 行定义.
void apollo::planning::AddVirtualObstacle | ( | HybridAObstacleContainer * | obstacles_ptr, |
double * | obstacle_x, | ||
double * | obstacle_y, | ||
int | vertice_num | ||
) |
在文件 hybrid_a_star_wrapper.cc 第 141 行定义.
void apollo::planning::AddVirtualSoftBoundary | ( | HybridASoftBoundaryContainer * | soft_boundary_ptr, |
double * | soft_boundary_x, | ||
double * | soft_boundary_y, | ||
int | vertice_num | ||
) |
在文件 hybrid_a_star_wrapper.cc 第 148 行定义.
bool apollo::planning::CheckADCHeading | ( | const common::math::Vec2d | adc_position, |
const double | adc_heading, | ||
const ReferenceLineInfo & | reference_line_info, | ||
const double | heading_diff_to_reference_line | ||
) |
Park_and_go: heading angle should be close to reference line before PardAndGo cruise stage
PullOverState apollo::planning::CheckADCPullOver | ( | const common::VehicleStateProvider * | vehicle_state_provider, |
const ReferenceLineInfo & | reference_line_info, | ||
const ScenarioPullOverConfig & | scenario_config, | ||
const PlanningContext * | planning_context | ||
) |
: check adc parked properly
PullOverState apollo::planning::CheckADCPullOverPathPoint | ( | const ReferenceLineInfo & | reference_line_info, |
const ScenarioPullOverConfig & | scenario_config, | ||
const common::PathPoint & | path_point, | ||
const PlanningContext * | planning_context | ||
) |
: check path data to see properly
bool apollo::planning::CheckADCReadyToCruise | ( | const common::VehicleStateProvider * | vehicle_state_provider, |
Frame * | frame, | ||
const apollo::planning::ScenarioParkAndGoConfig & | scenario_config | ||
) |
bool apollo::planning::CheckADCSurroundObstacles | ( | const common::math::Vec2d | adc_position, |
const double | adc_heading, | ||
Frame * | frame, | ||
const double | front_obstacle_buffer | ||
) |
: front obstacle is far enough before PardAndGo cruise stage (adc_position: center of rear wheel)
bool apollo::planning::CheckPullOverPositionBySL | ( | const ReferenceLineInfo & | reference_line_info, |
const ScenarioPullOverConfig & | scenario_config, | ||
const common::math::Vec2d & | adc_position, | ||
const double | adc_theta, | ||
const common::math::Vec2d & | target_position, | ||
const double | target_theta, | ||
const bool | check_s | ||
) |
bool apollo::planning::ComparePathData | ( | const PathData & | lhs, |
const PathData & | rhs, | ||
const Obstacle * | blocking_obstacle | ||
) |
在文件 lane_borrow_path.cc 第 700 行定义.
int apollo::planning::ContainsOutOnReverseLane | ( | const std::vector< PathPointDecision > & | path_point_decision | ) |
在文件 lane_borrow_path.cc 第 760 行定义.
int apollo::planning::ContainsOutOnReverseLane | ( | const std::vector< std::tuple< double, PathData::PathPointType, double > > & | path_point_decision | ) |
void apollo::planning::CopyTrajectory | ( | const DiscretizedTrajectory | trajectory_src, |
apollo::common::Trajectory * | trajectory_tgt_ptr | ||
) |
在文件 open_space_info.cc 第 26 行定义.
HybridAStar * apollo::planning::CreateHybridAPtr | ( | ) |
在文件 distance_approach_problem_wrapper.cc 第 215 行定义.
HybridAObstacleContainer * apollo::planning::CreateObstaclesPtr | ( | ) |
在文件 hybrid_a_star_wrapper.cc 第 132 行定义.
HybridAStar * apollo::planning::CreatePlannerPtr | ( | ) |
在文件 hybrid_a_star_wrapper.cc 第 120 行定义.
HybridAResultContainer * apollo::planning::CreateResultPtr | ( | ) |
在文件 hybrid_a_star_wrapper.cc 第 138 行定义.
OpenSpaceROITest * apollo::planning::CreateROITestPtr | ( | ) |
在文件 open_space_roi_wrapper.cc 第 472 行定义.
HybridASoftBoundaryContainer * apollo::planning::CreateSoftBoundaryPtr | ( | ) |
在文件 hybrid_a_star_wrapper.cc 第 135 行定义.
bool apollo::planning::data_transfer | ( | T * | dst, |
const T * | src, | ||
const int | size | ||
) |
__global__ void apollo::planning::data_transfer_gpu | ( | T * | dst, |
const T * | src, | ||
const int | size | ||
) |
apollo::planning::DECLARE_double | ( | look_backward_distance | ) |
apollo::planning::DECLARE_double | ( | look_forward_long_distance | ) |
apollo::planning::DECLARE_double | ( | look_forward_short_distance | ) |
apollo::planning::DECLARE_string | ( | test_chassis_file | ) |
apollo::planning::DECLARE_string | ( | test_data_dir | ) |
apollo::planning::DECLARE_string | ( | test_localization_file | ) |
apollo::planning::DECLARE_string | ( | test_prediction_file | ) |
apollo::planning::DECLARE_string | ( | test_previous_planning_file | ) |
apollo::planning::DECLARE_string | ( | test_relative_map_file | ) |
apollo::planning::DECLARE_string | ( | test_routing_response_file | ) |
apollo::planning::DECLARE_string | ( | test_traffic_light_file | ) |
apollo::planning::DEFINE_bool | ( | test_update_golden_log | , |
false | , | ||
"true to update decision golden log file." | |||
) |
apollo::planning::DEFINE_double | ( | look_backward_distance | , |
50 | , | ||
"look backward this distance when creating reference line from routing" | |||
) |
apollo::planning::DEFINE_double | ( | look_forward_long_distance | , |
250 | , | ||
"look forward this distance when creating reference line from routing" | |||
) |
apollo::planning::DEFINE_double | ( | look_forward_short_distance | , |
180 | , | ||
"short look forward this distance when creating reference line " "from routing when ADC is slow" | |||
) |
apollo::planning::DEFINE_string | ( | test_chassis_file | , |
"" | , | ||
"The chassis test file" | |||
) |
apollo::planning::DEFINE_string | ( | test_data_dir | , |
"" | , | ||
"the test data folder" | |||
) |
apollo::planning::DEFINE_string | ( | test_localization_file | , |
"" | , | ||
"The localization test file" | |||
) |
apollo::planning::DEFINE_string | ( | test_planning_config_file | , |
"" | , | ||
"planning config file for test" | |||
) |
apollo::planning::DEFINE_string | ( | test_prediction_file | , |
"" | , | ||
"The prediction module test file" | |||
) |
apollo::planning::DEFINE_string | ( | test_previous_planning_file | , |
"" | , | ||
"The previous planning test file" | |||
) |
apollo::planning::DEFINE_string | ( | test_relative_map_file | , |
"" | , | ||
"The relative map test file" | |||
) |
apollo::planning::DEFINE_string | ( | test_routing_response_file | , |
"" | , | ||
"The routing file used in test" | |||
) |
apollo::planning::DEFINE_string | ( | test_traffic_light_file | , |
"" | , | ||
"The traffic light test file" | |||
) |
double apollo::planning::DistanceBlockingObstacleToIntersection | ( | const ReferenceLineInfo & | reference_line_info, |
const std::string & | blocking_obstacle_id | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 283 行定义.
double apollo::planning::DistanceBlockingObstacleToJunction | ( | const ReferenceLineInfo & | reference_line_info, |
const std::string & | blocking_obstacle_id | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 319 行定义.
ObstacleContainer * apollo::planning::DistanceCreateObstaclesPtr | ( | ) |
在文件 distance_approach_problem_wrapper.cc 第 223 行定义.
ResultContainer * apollo::planning::DistanceCreateResultPtr | ( | ) |
在文件 distance_approach_problem_wrapper.cc 第 226 行定义.
void apollo::planning::DistanceGetResult | ( | ResultContainer * | result_ptr, |
ObstacleContainer * | obstacles_ptr, | ||
double * | x, | ||
double * | y, | ||
double * | phi, | ||
double * | v, | ||
double * | a, | ||
double * | steer, | ||
double * | opt_x, | ||
double * | opt_y, | ||
double * | opt_phi, | ||
double * | opt_v, | ||
double * | opt_a, | ||
double * | opt_steer, | ||
double * | opt_time, | ||
double * | opt_dual_l, | ||
double * | opt_dual_n, | ||
size_t * | output_size, | ||
double * | hybrid_time, | ||
double * | dual_time, | ||
double * | ipopt_time | ||
) |
在文件 distance_approach_problem_wrapper.cc 第 624 行定义.
bool apollo::planning::DistancePlan | ( | HybridAStar * | hybridA_ptr, |
ObstacleContainer * | obstacles_ptr, | ||
ResultContainer * | result_ptr, | ||
double | sx, | ||
double | sy, | ||
double | sphi, | ||
double | ex, | ||
double | ey, | ||
double | ephi, | ||
double * | XYbounds | ||
) |
在文件 distance_approach_problem_wrapper.cc 第 419 行定义.
bool apollo::planning::DistanceSmoothing | ( | const apollo::planning::PlannerOpenSpaceConfig & | planner_open_space_config, |
const ObstacleContainer & | obstacles, | ||
double | sx, | ||
double | sy, | ||
double | sphi, | ||
double | ex, | ||
double | ey, | ||
double | ephi, | ||
const std::vector< double > & | XYbounds, | ||
HybridAStartResult * | hybrid_a_star_result, | ||
Eigen::MatrixXd * | state_result_ds_, | ||
Eigen::MatrixXd * | control_result_ds_, | ||
Eigen::MatrixXd * | time_result_ds_, | ||
Eigen::MatrixXd * | dual_l_result_ds_, | ||
Eigen::MatrixXd * | dual_n_result_ds_, | ||
double & | dual_time, | ||
double & | ipopt_time | ||
) |
在文件 distance_approach_problem_wrapper.cc 第 258 行定义.
void apollo::planning::EvaluateTrajectory | ( | ) |
在文件 evaluate_trajectory.cc 第 33 行定义.
bool apollo::planning::fill_lower_left | ( | int * | iRow, |
int * | jCol, | ||
unsigned int * | rind_L, | ||
unsigned int * | cind_L, | ||
const int | nnz_L | ||
) |
__global__ void apollo::planning::fill_lower_left_gpu | ( | int * | iRow, |
int * | jCol, | ||
unsigned int * | rind_L, | ||
unsigned int * | cind_L, | ||
const int | nnz_L | ||
) |
void apollo::planning::GenerateLearningData | ( | ) |
在文件 record_to_learning_data.cc 第 34 行定义.
int apollo::planning::GetBackToInLaneIndex | ( | const std::vector< PathPointDecision > & | path_point_decision | ) |
在文件 lane_borrow_path.cc 第 772 行定义.
int apollo::planning::GetBackToInLaneIndex | ( | const std::vector< std::tuple< double, PathData::PathPointType, double > > & | path_point_decision | ) |
double apollo::planning::GetDistanceBetweenADCAndObstacle | ( | const Frame & | frame, |
const Obstacle * | obstacle | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 172 行定义.
void apollo::planning::GetResult | ( | HybridAResultContainer * | result_ptr, |
double * | x, | ||
double * | y, | ||
double * | phi, | ||
double * | v, | ||
double * | a, | ||
double * | steer, | ||
size_t * | output_size | ||
) |
在文件 hybrid_a_star_wrapper.cc 第 183 行定义.
bool apollo::planning::HysteresisFilter | ( | const double | obstacle_distance, |
const double | safe_distance, | ||
const double | distance_buffer, | ||
const bool | is_obstacle_blocking | ||
) |
在文件 lane_change_util.cc 第 176 行定义.
bool apollo::planning::InitialCuda | ( | ) |
double apollo::planning::InterpolateUsingLinearApproximation | ( | const double | p0, |
const double | p1, | ||
const double | w | ||
) |
在文件 distance_approach_problem_wrapper.cc 第 233 行定义.
bool apollo::planning::IsBlockingDrivingPathObstacle | ( | const ReferenceLine & | reference_line, |
const Obstacle * | obstacle | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 181 行定义.
bool apollo::planning::IsBlockingObstacleFarFromIntersection | ( | const ReferenceLineInfo & | reference_line_info, |
const std::string & | blocking_obstacle_id | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 234 行定义.
bool apollo::planning::IsBlockingObstacleToSidePass | ( | const Frame & | frame, |
const Obstacle * | obstacle, | ||
double | block_obstacle_min_speed, | ||
double | min_front_sidepass_distance, | ||
bool | enable_obstacle_blocked_check | ||
) |
Decide whether an obstacle is a blocking one that needs to be side-passed.
The | frame that contains reference_line and other info. |
The | obstacle of interest. |
The | speed threshold to tell whether an obstacle is stopped. |
The | minimum distance to front blocking obstacle for side-pass. (if too close, don't side-pass for safety consideration) |
Whether | to take into consideration that the blocking obstacle itself is blocked by others as well. In other words, if the front blocking obstacle is blocked by others, then don't try to side-pass it. (Parked obstacles are never blocked by others) |
在文件 obstacle_blocking_analyzer.cc 第 88 行定义.
bool apollo::planning::IsBlockingObstacleWithinDestination | ( | const ReferenceLineInfo & | reference_line_info, |
const std::string & | blocking_obstacle_id, | ||
const double | threshold | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 365 行定义.
bool apollo::planning::IsClearToChangeLane | ( | ReferenceLineInfo * | reference_line_info | ) |
A static function to check if the ChangeLanePath type of reference line is safe or if current reference line is safe to deviate away and come back
在文件 lane_change_util.cc 第 26 行定义.
bool apollo::planning::IsNonmovableObstacle | ( | const ReferenceLineInfo & | reference_line_info, |
const Obstacle & | obstacle | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 40 行定义.
bool apollo::planning::IsParkedVehicle | ( | const ReferenceLine & | reference_line, |
const Obstacle * | obstacle | ||
) |
在文件 obstacle_blocking_analyzer.cc 第 201 行定义.
bool apollo::planning::IsPerceptionBlocked | ( | const ReferenceLineInfo & | reference_line_info, |
const double | search_beam_length, | ||
const double | search_beam_radius_intensity, | ||
const double | search_range, | ||
const double | is_block_angle_threshold | ||
) |
A static function to estimate if an obstacle in certain range in front of ADV blocks too much space perception behind itself by beam scanning
search_beam_length | is the length of scanning beam |
search_beam_radius_intensity | is the resolution of scanning |
search_range | is the scanning range centering at ADV heading |
is_block_angle_threshold | is the threshold to tell how big a block angle range is perception blocking |
在文件 lane_change_util.cc 第 123 行定义.
bool apollo::planning::Plan | ( | HybridAStar * | planner_ptr, |
HybridAObstacleContainer * | obstacles_ptr, | ||
HybridASoftBoundaryContainer * | soft_boundary_ptr, | ||
HybridAResultContainer * | result_ptr, | ||
double | sx, | ||
double | sy, | ||
double | sphi, | ||
double | ex, | ||
double | ey, | ||
double | ephi, | ||
double * | XYbounds | ||
) |
在文件 hybrid_a_star_wrapper.cc 第 156 行定义.
void apollo::planning::PopulateChartOptions | ( | double | x_min, |
double | x_max, | ||
std::string | x_label, | ||
double | y_min, | ||
double | y_max, | ||
std::string | y_label, | ||
bool | display, | ||
Chart * | chart | ||
) |
在文件 on_lane_planning.cc 第 704 行定义.
void apollo::planning::printMatrix | ( | const int | r, |
const int | c, | ||
const std::vector< c_float > & | P_data, | ||
const std::vector< c_int > & | P_indices, | ||
const std::vector< c_int > & | P_indptr | ||
) |
在文件 dual_variable_warm_start_osqp_interface.cc 第 79 行定义.
bool apollo::planning::ROITest | ( | OpenSpaceROITest * | test_ptr, |
char * | lane_id, | ||
char * | parking_id, | ||
double * | unrotated_roi_boundary_x, | ||
double * | unrotated_roi_boundary_y, | ||
double * | roi_boundary_x, | ||
double * | roi_boundary_y, | ||
double * | parking_spot_x, | ||
double * | parking_spot_y, | ||
double * | end_pose, | ||
double * | xy_boundary, | ||
double * | origin_pose | ||
) |
在文件 open_space_roi_wrapper.cc 第 476 行定义.
void apollo::planning::SetChartminmax | ( | apollo::dreamview::Chart * | chart, |
std::string | label_name_x, | ||
std::string | label_name_y | ||
) |
在文件 on_lane_planning.cc 第 65 行定义.
void apollo::planning::UpdatePreparationDistance | ( | const bool | is_opt_succeed, |
const Frame * | frame, | ||
const ReferenceLineInfo *const | reference_line_info, | ||
PlanningContext * | planning_context | ||
) |
A static function to update the prepararion distance for lane change
is_opt_succeed | if the optimization succeed |
frame | frame data for each planning cycle |
reference_line_info | struct containing reference line information |
planning_context | planning context for each planning cycle |
std::vector< double > apollo::planning::VectorLinearInterpolation | ( | const std::vector< double > & | x, |
int | extend_size | ||
) |
在文件 distance_approach_problem_wrapper.cc 第 238 行定义.
bool apollo::planning::WithinOverlap | ( | const hdmap::PathOverlap & | overlap, |
double | s | ||
) |
在文件 reference_line_info.cc 第 328 行定义.
|
constexpr |
在文件 obstacle_blocking_analyzer.cc 第 35 行定义.
|
constexpr |
在文件 st_obstacles_processor.h 第 43 行定义.
|
constexpr |
在文件 obstacle_blocking_analyzer.cc 第 37 行定义.
|
constexpr |
在文件 obstacle_blocking_analyzer.cc 第 38 行定义.
|
constexpr |
在文件 open_space_roi_wrapper.cc 第 42 行定义.
|
constexpr |
在文件 path_assessment_decider_util.h 第 31 行定义.
|
constexpr |
在文件 st_graph_data.h 第 36 行定义.
|
constexpr |
在文件 obstacle_blocking_analyzer.cc 第 36 行定义.
|
constexpr |
在文件 st_obstacles_processor.h 第 46 行定义.
|
constexpr |
在文件 trajectory_fallback_task.cc 第 30 行定义.
|
constexpr |
在文件 st_obstacles_processor.h 第 44 行定义.
|
constexpr |
在文件 st_guide_line.cc 第 26 行定义.
|
constexpr |
在文件 trajectory_fallback_task.cc 第 31 行定义.
|
constexpr |
在文件 st_bounds_decider.h 第 41 行定义.
|
constexpr |
在文件 st_bounds_decider.h 第 42 行定义.
|
constexpr |
在文件 st_obstacles_processor.h 第 45 行定义.