Apollo  6.0
Open source self driving car software
Public Member Functions | Static Public Member Functions | List of all members
apollo::planning::Frame Class Reference

Frame holds all data for one planning cycle. More...

#include <frame.h>

Collaboration diagram for apollo::planning::Frame:
Collaboration graph

Public Member Functions

 Frame (uint32_t sequence_num)
 
 Frame (uint32_t sequence_num, const LocalView &local_view, const common::TrajectoryPoint &planning_start_point, const common::VehicleState &vehicle_state, ReferenceLineProvider *reference_line_provider)
 
 Frame (uint32_t sequence_num, const LocalView &local_view, const common::TrajectoryPoint &planning_start_point, const common::VehicleState &vehicle_state)
 
virtual ~Frame ()=default
 
const common::TrajectoryPoint & PlanningStartPoint () const
 
common::Status Init (const common::VehicleStateProvider *vehicle_state_provider, const std::list< ReferenceLine > &reference_lines, const std::list< hdmap::RouteSegments > &segments, const std::vector< routing::LaneWaypoint > &future_route_waypoints, const EgoInfo *ego_info)
 
common::Status InitForOpenSpace (const common::VehicleStateProvider *vehicle_state_provider, const EgoInfo *ego_info)
 
uint32_t SequenceNum () const
 
std::string DebugString () const
 
const PublishableTrajectory & ComputedTrajectory () const
 
void RecordInputDebug (planning_internal::Debug *debug)
 
const std::list< ReferenceLineInfo > & reference_line_info () const
 
std::list< ReferenceLineInfo > * mutable_reference_line_info ()
 
Obstacle * Find (const std::string &id)
 
const ReferenceLineInfo * FindDriveReferenceLineInfo ()
 
const ReferenceLineInfo * FindTargetReferenceLineInfo ()
 
const ReferenceLineInfo * FindFailedReferenceLineInfo ()
 
const ReferenceLineInfo * DriveReferenceLineInfo () const
 
const std::vector< const Obstacle * > obstacles () const
 
const Obstacle * CreateStopObstacle (ReferenceLineInfo *const reference_line_info, const std::string &obstacle_id, const double obstacle_s)
 
const Obstacle * CreateStopObstacle (const std::string &obstacle_id, const std::string &lane_id, const double lane_s)
 
const Obstacle * CreateStaticObstacle (ReferenceLineInfo *const reference_line_info, const std::string &obstacle_id, const double obstacle_start_s, const double obstacle_end_s)
 
bool Rerouting (PlanningContext *planning_context)
 
const common::VehicleState & vehicle_state () const
 
void set_current_frame_planned_trajectory (ADCTrajectory current_frame_planned_trajectory)
 
const ADCTrajectory & current_frame_planned_trajectory () const
 
void set_current_frame_planned_path (DiscretizedPath current_frame_planned_path)
 
const DiscretizedPath & current_frame_planned_path () const
 
const bool is_near_destination () const
 
void UpdateReferenceLinePriority (const std::map< std::string, uint32_t > &id_to_priority)
 Adjust reference line priority according to actual road conditions lane id and reference line priority mapping relationship. More...
 
const LocalView & local_view () const
 
ThreadSafeIndexedObstacles * GetObstacleList ()
 
const OpenSpaceInfo & open_space_info () const
 
OpenSpaceInfo * mutable_open_space_info ()
 
perception::TrafficLight GetSignal (const std::string &traffic_light_id) const
 
const DrivingAction & GetPadMsgDrivingAction () const
 

Static Public Member Functions

static void AlignPredictionTime (const double planning_start_time, prediction::PredictionObstacles *prediction_obstacles)
 

Detailed Description

Frame holds all data for one planning cycle.

Constructor & Destructor Documentation

◆ Frame() [1/3]

apollo::planning::Frame::Frame ( uint32_t  sequence_num)
explicit

◆ Frame() [2/3]

apollo::planning::Frame::Frame ( uint32_t  sequence_num,
const LocalView &  local_view,
const common::TrajectoryPoint &  planning_start_point,
const common::VehicleState &  vehicle_state,
ReferenceLineProvider *  reference_line_provider 
)

◆ Frame() [3/3]

apollo::planning::Frame::Frame ( uint32_t  sequence_num,
const LocalView &  local_view,
const common::TrajectoryPoint &  planning_start_point,
const common::VehicleState &  vehicle_state 
)

◆ ~Frame()

virtual apollo::planning::Frame::~Frame ( )
virtualdefault

Member Function Documentation

◆ AlignPredictionTime()

static void apollo::planning::Frame::AlignPredictionTime ( const double  planning_start_time,
prediction::PredictionObstacles *  prediction_obstacles 
)
static

◆ ComputedTrajectory()

const PublishableTrajectory& apollo::planning::Frame::ComputedTrajectory ( ) const

◆ CreateStaticObstacle()

const Obstacle* apollo::planning::Frame::CreateStaticObstacle ( ReferenceLineInfo *const  reference_line_info,
const std::string &  obstacle_id,
const double  obstacle_start_s,
const double  obstacle_end_s 
)

◆ CreateStopObstacle() [1/2]

const Obstacle* apollo::planning::Frame::CreateStopObstacle ( ReferenceLineInfo *const  reference_line_info,
const std::string &  obstacle_id,
const double  obstacle_s 
)

◆ CreateStopObstacle() [2/2]

const Obstacle* apollo::planning::Frame::CreateStopObstacle ( const std::string &  obstacle_id,
const std::string &  lane_id,
const double  lane_s 
)

◆ current_frame_planned_path()

const DiscretizedPath& apollo::planning::Frame::current_frame_planned_path ( ) const
inline

◆ current_frame_planned_trajectory()

const ADCTrajectory& apollo::planning::Frame::current_frame_planned_trajectory ( ) const
inline

◆ DebugString()

std::string apollo::planning::Frame::DebugString ( ) const

◆ DriveReferenceLineInfo()

const ReferenceLineInfo* apollo::planning::Frame::DriveReferenceLineInfo ( ) const

◆ Find()

Obstacle* apollo::planning::Frame::Find ( const std::string &  id)

◆ FindDriveReferenceLineInfo()

const ReferenceLineInfo* apollo::planning::Frame::FindDriveReferenceLineInfo ( )

◆ FindFailedReferenceLineInfo()

const ReferenceLineInfo* apollo::planning::Frame::FindFailedReferenceLineInfo ( )

◆ FindTargetReferenceLineInfo()

const ReferenceLineInfo* apollo::planning::Frame::FindTargetReferenceLineInfo ( )

◆ GetObstacleList()

ThreadSafeIndexedObstacles* apollo::planning::Frame::GetObstacleList ( )
inline

◆ GetPadMsgDrivingAction()

const DrivingAction& apollo::planning::Frame::GetPadMsgDrivingAction ( ) const
inline

◆ GetSignal()

perception::TrafficLight apollo::planning::Frame::GetSignal ( const std::string &  traffic_light_id) const

◆ Init()

common::Status apollo::planning::Frame::Init ( const common::VehicleStateProvider *  vehicle_state_provider,
const std::list< ReferenceLine > &  reference_lines,
const std::list< hdmap::RouteSegments > &  segments,
const std::vector< routing::LaneWaypoint > &  future_route_waypoints,
const EgoInfo *  ego_info 
)

◆ InitForOpenSpace()

common::Status apollo::planning::Frame::InitForOpenSpace ( const common::VehicleStateProvider *  vehicle_state_provider,
const EgoInfo *  ego_info 
)

◆ is_near_destination()

const bool apollo::planning::Frame::is_near_destination ( ) const
inline

◆ local_view()

const LocalView& apollo::planning::Frame::local_view ( ) const
inline

◆ mutable_open_space_info()

OpenSpaceInfo* apollo::planning::Frame::mutable_open_space_info ( )
inline

◆ mutable_reference_line_info()

std::list<ReferenceLineInfo>* apollo::planning::Frame::mutable_reference_line_info ( )

◆ obstacles()

const std::vector<const Obstacle *> apollo::planning::Frame::obstacles ( ) const

◆ open_space_info()

const OpenSpaceInfo& apollo::planning::Frame::open_space_info ( ) const
inline

◆ PlanningStartPoint()

const common::TrajectoryPoint& apollo::planning::Frame::PlanningStartPoint ( ) const

◆ RecordInputDebug()

void apollo::planning::Frame::RecordInputDebug ( planning_internal::Debug *  debug)

◆ reference_line_info()

const std::list<ReferenceLineInfo>& apollo::planning::Frame::reference_line_info ( ) const

◆ Rerouting()

bool apollo::planning::Frame::Rerouting ( PlanningContext *  planning_context)

◆ SequenceNum()

uint32_t apollo::planning::Frame::SequenceNum ( ) const

◆ set_current_frame_planned_path()

void apollo::planning::Frame::set_current_frame_planned_path ( DiscretizedPath  current_frame_planned_path)
inline

◆ set_current_frame_planned_trajectory()

void apollo::planning::Frame::set_current_frame_planned_trajectory ( ADCTrajectory  current_frame_planned_trajectory)
inline

◆ UpdateReferenceLinePriority()

void apollo::planning::Frame::UpdateReferenceLinePriority ( const std::map< std::string, uint32_t > &  id_to_priority)

Adjust reference line priority according to actual road conditions lane id and reference line priority mapping relationship.

◆ vehicle_state()

const common::VehicleState& apollo::planning::Frame::vehicle_state ( ) const
The documentation for this class was generated from the following file:
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