apollo::planning::NaviPlanner Class Reference

NaviPlanner is a planner based on real-time relative maps. It uses the vehicle's FLU (Front-Left-Up) coordinate system to accomplish tasks such as cruising, following, overtaking, nudging, changing lanes and stopping. Note that NaviPlanner 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_planner.h>

Inheritance diagram for apollo::planning::NaviPlanner:

Collaboration diagram for apollo::planning::NaviPlanner:

Public Member Functions
	NaviPlanner ()=delete
	NaviPlanner (const std::shared_ptr< DependencyInjector > &injector)
virtual	~NaviPlanner ()=default
std::string	Name () override
common::Status	Init (const PlanningConfig &config) override
common::Status	Plan (const common::TrajectoryPoint &planning_init_point, Frame *frame, ADCTrajectory *ptr_computed_trajectory) override
	Override function Plan in parent class Planner. More...
void	Stop () override
common::Status	PlanOnReferenceLine (const common::TrajectoryPoint &planning_init_point, Frame *frame, ReferenceLineInfo *reference_line_info) override
	Override function Plan in parent class Planner. More...
Public Member Functions inherited from apollo::planning::PlannerWithReferenceLine
	PlannerWithReferenceLine ()=delete
	Constructor. More...
	PlannerWithReferenceLine (const std::shared_ptr< DependencyInjector > &injector)
virtual	~PlannerWithReferenceLine ()=default
	Destructor. More...
Public Member Functions inherited from apollo::planning::Planner
	Planner ()=delete
	Constructor. More...
	Planner (const std::shared_ptr< DependencyInjector > &injector)
virtual	~Planner ()=default
	Destructor. More...

Additional Inherited Members
Protected Attributes inherited from apollo::planning::Planner
PlanningConfig	config_
scenario::ScenarioManager	scenario_manager_
scenario::Scenario *	scenario_ = nullptr

Detailed Description

NaviPlanner is a planner based on real-time relative maps. It uses the vehicle's FLU (Front-Left-Up) coordinate system to accomplish tasks such as cruising, following, overtaking, nudging, changing lanes and stopping. Note that NaviPlanner 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

NaviPlanner() [1/2]

apollo::planning::NaviPlanner::NaviPlanner ( )

delete

NaviPlanner() [2/2]

apollo::planning::NaviPlanner::NaviPlanner ( const std::shared_ptr< DependencyInjector > &  injector )

inlineexplicit

~NaviPlanner()

virtual apollo::planning::NaviPlanner::~NaviPlanner ( )

virtualdefault

Member Function Documentation

Init()

common::Status apollo::planning::NaviPlanner::Init ( const PlanningConfig &  config )

overridevirtual

Implements apollo::planning::Planner.

Name()

std::string apollo::planning::NaviPlanner::Name ( )

inlineoverridevirtual

Implements apollo::planning::Planner.

Plan()

common::Status apollo::planning::NaviPlanner::Plan ( const common::TrajectoryPoint &  planning_init_point, Frame *  frame, ADCTrajectory *  ptr_computed_trajectory  )

overridevirtual

Override function Plan in parent class Planner.

Parameters

planning_init_point	The trajectory point where planning starts.
frame	Current planning frame.

Returns

OK if planning succeeds; error otherwise.

Implements apollo::planning::Planner.

PlanOnReferenceLine()

common::Status apollo::planning::NaviPlanner::PlanOnReferenceLine ( const common::TrajectoryPoint &  planning_init_point, Frame *  frame, ReferenceLineInfo *  reference_line_info  )

overridevirtual

Override function Plan in parent class Planner.

Parameters

planning_init_point	The trajectory point where planning starts.
frame	Current planning frame.
reference_line_info	The computed reference line.

Returns

OK if planning succeeds; error otherwise.

Reimplemented from apollo::planning::PlannerWithReferenceLine.

Stop()

void apollo::planning::NaviPlanner::Stop ( void  )

inlineoverridevirtual

Implements apollo::planning::Planner.

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

• modules/planning/planner/navi/navi_planner.h