speed_optimizer.cc

浏览该文件的文档.

/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/planning/planning_interface_base/task_base/common/speed_optimizer.h"
 
#include "modules/planning/planning_base/common/speed_limit.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
 
namespace apollo {
namespace planning {
 
using apollo::common::Status;
using apollo::planning_internal::STGraphDebug;
 
Status SpeedOptimizer::Execute(Frame* frame,
                               ReferenceLineInfo* reference_line_info) {
  Task::Execute(frame, reference_line_info);
 
  auto ret =
      Process(reference_line_info->path_data(), frame->PlanningStartPoint(),
              reference_line_info->mutable_speed_data());
 
  RecordDebugInfo(reference_line_info->speed_data());
  return ret;
}
 
void SpeedOptimizer::RecordDebugInfo(const SpeedData& speed_data) {
  auto* debug = reference_line_info_->mutable_debug();
  auto ptr_speed_plan = debug->mutable_planning_data()->add_speed_plan();
  ptr_speed_plan->set_name(Name());
  ptr_speed_plan->mutable_speed_point()->CopyFrom(
      {speed_data.begin(), speed_data.end()});
}
 
void SpeedOptimizer::RecordDebugInfo(const SpeedData& speed_data,
                                     STGraphDebug* st_graph_debug) {
  if (!FLAGS_enable_record_debug || !st_graph_debug) {
    ADEBUG << "Skip record debug info";
    return;
  }
  st_graph_debug->set_name(Name());
  st_graph_debug->mutable_speed_profile()->CopyFrom(
      {speed_data.begin(), speed_data.end()});
}
 
}  // namespace planning
}  // namespace apollo