apollo::task_manager 命名空间参考

类
class	CycleRoutingManager
struct	CycleRoutingTask
struct	ParkGoRoutingTask
class	ParkingRoutingManager
struct	ParkingRoutingTask
struct	Task
class	TaskManagerComponent
struct	TaskManagerConfig
struct	TopicConfig

枚举
enum	TaskType { CYCLE_ROUTING = 0 , PARKING_ROUTING = 1 , PARK_GO_ROUTING = 2 }
enum	JunctionType {   UNKNOWN = 0 , IN_ROAD = 1 , CROSS_ROAD = 2 , FORK_ROAD = 3 ,   MAIN_SIDE = 4 }

函数
bool	CheckPointDistanceInThreshold (external_command::Pose target, common::PointENU ego, double distance)

枚举类型说明

JunctionType

enum apollo::task_manager::JunctionType

枚举值
UNKNOWN
IN_ROAD
CROSS_ROAD
FORK_ROAD
MAIN_SIDE

在文件 task_manager.proto 第 15 行定义.

                  {
  UNKNOWN = 0;
  IN_ROAD = 1;
  CROSS_ROAD = 2;
  FORK_ROAD = 3;
  MAIN_SIDE = 4;
}

TaskType

enum apollo::task_manager::TaskType

枚举值
CYCLE_ROUTING
PARKING_ROUTING
PARK_GO_ROUTING

在文件 task_manager.proto 第 9 行定义.

              {
  CYCLE_ROUTING = 0;
  PARKING_ROUTING = 1;
  PARK_GO_ROUTING = 2;
}

函数说明

CheckPointDistanceInThreshold()

bool apollo::task_manager::CheckPointDistanceInThreshold	(	external_command::Pose	target,
		common::PointENU	ego,
		double	distance
	)

在文件 cycle_routing_manager.cc 第 25 行定义.

                                                                        {
  AINFO << ego.x() << " " << ego.y() << " " << target.x() << " " << target.y();
  Vec2d tar2ego(ego.x() - target.x(), ego.y() - target.y());
  Vec2d unit = Vec2d::CreateUnitVec2d(target.heading());
  double dis = unit.InnerProd(tar2ego);
  return dis < 1e-6 && std::fabs(dis) < distance && tar2ego.Length() < distance;
}