apollo::planning::NaviObstacleDecider Class Reference

NaviObstacleDecider is used to make appropriate decisions for obstacles around the vehicle in navigation mode. Note that NaviObstacleDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode. More...

#include <navi_obstacle_decider.h>

Inheritance diagram for apollo::planning::NaviObstacleDecider:

Collaboration diagram for apollo::planning::NaviObstacleDecider:

Public Member Functions
	NaviObstacleDecider ()
virtual	~NaviObstacleDecider ()=default
bool	Init (const PlanningConfig &config) override
	Initialization parameters. More...
double	GetNudgeDistance (const std::vector< const Obstacle *> &obstacles, const ReferenceLine &reference_line, const PathDecision &path_decision, const std::vector< common::PathPoint > &path_data_points, const common::VehicleState &vehicle_state, int *lane_obstacles_num)
	get the actual nudgable distance according to the position of the obstacle More...
void	GetUnsafeObstaclesInfo (const std::vector< common::PathPoint > &path_data_points, const std::vector< const Obstacle *> &obstacles)
	get the unsafe obstacles between trajectory and reference line. More...
const std::vector< std::tuple< std::string, double, double > > &	UnsafeObstacles ()
	Get unsafe obstacles' ID. More...
Public Member Functions inherited from apollo::planning::NaviTask
	NaviTask (const std::string &name)
virtual	~NaviTask ()=default
virtual const std::string &	Name () const
virtual apollo::common::Status	Execute (Frame *frame, ReferenceLineInfo *reference_line_info)

Additional Inherited Members
Protected Attributes inherited from apollo::planning::NaviTask
bool	is_init_ = false
Frame *	frame_ = nullptr
ReferenceLineInfo *	reference_line_info_ = nullptr

Detailed Description

NaviObstacleDecider is used to make appropriate decisions for obstacles around the vehicle in navigation mode. Note that NaviObstacleDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode.

Constructor & Destructor Documentation

NaviObstacleDecider()

apollo::planning::NaviObstacleDecider::NaviObstacleDecider

(

)

~NaviObstacleDecider()

virtual apollo::planning::NaviObstacleDecider::~NaviObstacleDecider ( )

virtualdefault

Member Function Documentation

GetNudgeDistance()

double apollo::planning::NaviObstacleDecider::GetNudgeDistance	(	const std::vector< const Obstacle *> &	obstacles,
		const ReferenceLine &	reference_line,
		const PathDecision &	path_decision,
		const std::vector< common::PathPoint > &	path_data_points,
		const common::VehicleState &	vehicle_state,
		int *	lane_obstacles_num
	)

get the actual nudgable distance according to the position of the obstacle

Returns

actual nudgable distance

GetUnsafeObstaclesInfo()

void apollo::planning::NaviObstacleDecider::GetUnsafeObstaclesInfo	(	const std::vector< common::PathPoint > &	path_data_points,
		const std::vector< const Obstacle *> &	obstacles
	)

get the unsafe obstacles between trajectory and reference line.

Init()

bool apollo::planning::NaviObstacleDecider::Init ( const PlanningConfig &  config )

overridevirtual

Initialization parameters.

Returns

Initialization success or not

Reimplemented from apollo::planning::NaviTask.

UnsafeObstacles()

const std::vector< std::tuple< std::string, double, double > > & apollo::planning::NaviObstacleDecider::UnsafeObstacles ( )

inline

Get unsafe obstacles' ID.

Returns

unsafe_obstacle_ID_

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The documentation for this class was generated from the following file:

• modules/planning/navi/decider/navi_obstacle_decider.h