NaviPathDecider is used to generate the local driving path of the .* vehicle in navigation mode. Note that NaviPathDecider 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_path_decider.h>

Inheritance diagram for apollo::planning::NaviPathDecider:

Collaboration diagram for apollo::planning::NaviPathDecider:

Public Member Functions
	NaviPathDecider ()

virtual	~NaviPathDecider ()=default

bool	Init (const PlanningConfig &config) override

apollo::common::Status	Execute (Frame frame, ReferenceLineInfo reference_line_info) override
	Overrided implementation of the virtual function "Execute" in the base class "Task". More...

Public Member Functions inherited from apollo::planning::NaviTask
	NaviTask (const std::string &name)

virtual	~NaviTask ()=default

virtual const std::string &	Name () const

Additional Inherited Members
Protected Attributes inherited from apollo::planning::NaviTask
bool	is_init_ = false

Frame *	frame_ = nullptr

ReferenceLineInfo *	reference_line_info_ = nullptr

Detailed Description

NaviPathDecider is used to generate the local driving path of the .* vehicle in navigation mode. Note that NaviPathDecider 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

◆ NaviPathDecider()

apollo::planning::NaviPathDecider::NaviPathDecider ( )

◆ ~NaviPathDecider()

virtual apollo::planning::NaviPathDecider::~NaviPathDecider ( )

virtualdefault

Member Function Documentation

◆ Execute()

apollo::common::Status apollo::planning::NaviPathDecider::Execute	(	Frame *	frame,
		ReferenceLineInfo *	reference_line_info
	)

overridevirtual

Overrided implementation of the virtual function "Execute" in the base class "Task".

Parameters

frame	Current planning frame.
reference_line_info	Currently available reference line information.

Returns: Status::OK() if a suitable path is created; error otherwise.

Reimplemented from apollo::planning::NaviTask.

◆ Init()

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