This is the class that associates an Obstacle with its path properties. An obstacle's path properties relative to a path. The s and l values are examples of path properties. The decision of an obstacle is also associated with a path. More...

#include <obstacle.h>

Collaboration diagram for apollo::planning::Obstacle:

Public Member Functions
	Obstacle ()=default

	Obstacle (const std::string &id, const perception::PerceptionObstacle &perception_obstacle, const prediction::ObstaclePriority::Priority &obstacle_priority, const bool is_static)

	Obstacle (const std::string &id, const perception::PerceptionObstacle &perception_obstacle, const prediction::Trajectory &trajectory, const prediction::ObstaclePriority::Priority &obstacle_priority, const bool is_static)

const std::string &	Id () const

void	SetId (const std::string &id)

double	speed () const

int32_t	PerceptionId () const

bool	IsStatic () const

bool	IsVirtual () const

common::TrajectoryPoint	GetPointAtTime (const double time) const

common::math::Box2d	GetBoundingBox (const common::TrajectoryPoint &point) const

const common::math::Box2d &	PerceptionBoundingBox () const

const common::math::Polygon2d &	PerceptionPolygon () const

const prediction::Trajectory &	Trajectory () const

common::TrajectoryPoint *	AddTrajectoryPoint ()

bool	HasTrajectory () const

const perception::PerceptionObstacle &	Perception () const

bool	IsCautionLevelObstacle () const

const ObjectDecisionType &	LateralDecision () const

const ObjectDecisionType &	LongitudinalDecision () const
	return the merged longitudinal decision Longitudinal decision is one of {Stop, Yield, Follow, Overtake, Ignore} More...

std::string	DebugString () const

const SLBoundary &	PerceptionSLBoundary () const

const STBoundary &	reference_line_st_boundary () const

const STBoundary &	path_st_boundary () const

const std::vector< std::string > &	decider_tags () const

const std::vector< ObjectDecisionType > &	decisions () const

void	AddLongitudinalDecision (const std::string &decider_tag, const ObjectDecisionType &decision)

void	AddLateralDecision (const std::string &decider_tag, const ObjectDecisionType &decision)

bool	HasLateralDecision () const

void	set_path_st_boundary (const STBoundary &boundary)

bool	is_path_st_boundary_initialized ()

void	SetStBoundaryType (const STBoundary::BoundaryType type)

void	EraseStBoundary ()

void	SetReferenceLineStBoundary (const STBoundary &boundary)

void	SetReferenceLineStBoundaryType (const STBoundary::BoundaryType type)

void	EraseReferenceLineStBoundary ()

bool	HasLongitudinalDecision () const

bool	HasNonIgnoreDecision () const

double	MinRadiusStopDistance (const common::VehicleParam &vehicle_param) const
	Calculate stop distance with the obstacle using the ADC's minimum turning radius. More...

bool	IsIgnore () const
	Check if this object can be safely ignored. The object will be ignored if the lateral decision is ignore and the longitudinal decision is ignore return longitudinal_decision_ == ignore && lateral_decision == ignore. More...

bool	IsLongitudinalIgnore () const

bool	IsLateralIgnore () const

void	BuildReferenceLineStBoundary (const ReferenceLine &reference_line, const double adc_start_s)

void	SetPerceptionSlBoundary (const SLBoundary &sl_boundary)

void	SetBlockingObstacle (bool blocking)

bool	IsBlockingObstacle () const

bool	IsLaneBlocking () const

void	CheckLaneBlocking (const ReferenceLine &reference_line)

bool	IsLaneChangeBlocking () const

void	SetLaneChangeBlocking (const bool is_distance_clear)

Static Public Member Functions
static std::list< std::unique_ptr< Obstacle > >	CreateObstacles (const prediction::PredictionObstacles &predictions)
	This is a helper function that can create obstacles from prediction data. The original prediction may have multiple trajectories for each obstacle. But this function will create one obstacle for each trajectory. More...

static std::unique_ptr< Obstacle >	CreateStaticVirtualObstacles (const std::string &id, const common::math::Box2d &obstacle_box)

static bool	IsValidPerceptionObstacle (const perception::PerceptionObstacle &obstacle)

static bool	IsValidTrajectoryPoint (const common::TrajectoryPoint &point)

static bool	IsLongitudinalDecision (const ObjectDecisionType &decision)
	check if an ObjectDecisionType is a longitudinal decision. More...

static bool	IsLateralDecision (const ObjectDecisionType &decision)
	check if an ObjectDecisionType is a lateral decision. More...

Detailed Description

This is the class that associates an Obstacle with its path properties. An obstacle's path properties relative to a path. The s and l values are examples of path properties. The decision of an obstacle is also associated with a path.

The decisions have two categories: lateral decision and longitudinal decision. Lateral decision includes: nudge, ignore. Lateral decision safety priority: nudge > ignore. Longitudinal decision includes: stop, yield, follow, overtake, ignore. Decision safety priorities order: stop > yield >= follow > overtake > ignore

Ignore decision belongs to both lateral decision and longitudinal decision, and it has the lowest priority.

Constructor & Destructor Documentation

◆ Obstacle() [1/3]

apollo::planning::Obstacle::Obstacle ( )

default

◆ Obstacle() [2/3]

apollo::planning::Obstacle::Obstacle	(	const std::string &	id,
		const perception::PerceptionObstacle &	perception_obstacle,
		const prediction::ObstaclePriority::Priority &	obstacle_priority,
		const bool	is_static
	)

◆ Obstacle() [3/3]

apollo::planning::Obstacle::Obstacle	(	const std::string &	id,
		const perception::PerceptionObstacle &	perception_obstacle,
		const prediction::Trajectory &	trajectory,
		const prediction::ObstaclePriority::Priority &	obstacle_priority,
		const bool	is_static
	)

Member Function Documentation

◆ AddLateralDecision()

void apollo::planning::Obstacle::AddLateralDecision	(	const std::string &	decider_tag,
		const ObjectDecisionType &	decision
	)

◆ AddLongitudinalDecision()

void apollo::planning::Obstacle::AddLongitudinalDecision	(	const std::string &	decider_tag,
		const ObjectDecisionType &	decision
	)

◆ AddTrajectoryPoint()

common::TrajectoryPoint* apollo::planning::Obstacle::AddTrajectoryPoint ( )

inline

◆ BuildReferenceLineStBoundary()

void apollo::planning::Obstacle::BuildReferenceLineStBoundary	(	const ReferenceLine &	reference_line,
		const double	adc_start_s
	)

◆ CheckLaneBlocking()

void apollo::planning::Obstacle::CheckLaneBlocking ( const ReferenceLine & reference_line )

◆ CreateObstacles()

static std::list<std::unique_ptr<Obstacle> > apollo::planning::Obstacle::CreateObstacles ( const prediction::PredictionObstacles & predictions )

static

This is a helper function that can create obstacles from prediction data. The original prediction may have multiple trajectories for each obstacle. But this function will create one obstacle for each trajectory.

Parameters

predictions The prediction results

Returns: obstacles The output obstacles saved in a list of unique_ptr.

◆ CreateStaticVirtualObstacles()

static std::unique_ptr<Obstacle> apollo::planning::Obstacle::CreateStaticVirtualObstacles	(	const std::string &	id,
		const common::math::Box2d &	obstacle_box
	)

static

◆ DebugString()

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

◆ decider_tags()

const std::vector<std::string>& apollo::planning::Obstacle::decider_tags ( ) const

◆ decisions()

const std::vector<ObjectDecisionType>& apollo::planning::Obstacle::decisions ( ) const

◆ EraseReferenceLineStBoundary()

void apollo::planning::Obstacle::EraseReferenceLineStBoundary ( )

◆ EraseStBoundary()

void apollo::planning::Obstacle::EraseStBoundary ( )

◆ GetBoundingBox()

common::math::Box2d apollo::planning::Obstacle::GetBoundingBox ( const common::TrajectoryPoint & point ) const

◆ GetPointAtTime()

common::TrajectoryPoint apollo::planning::Obstacle::GetPointAtTime ( const double time ) const

◆ HasLateralDecision()

bool apollo::planning::Obstacle::HasLateralDecision ( ) const

◆ HasLongitudinalDecision()

bool apollo::planning::Obstacle::HasLongitudinalDecision ( ) const

◆ HasNonIgnoreDecision()

bool apollo::planning::Obstacle::HasNonIgnoreDecision ( ) const

◆ HasTrajectory()

bool apollo::planning::Obstacle::HasTrajectory ( ) const

inline

◆ Id()

const std::string& apollo::planning::Obstacle::Id ( ) const

inline

◆ is_path_st_boundary_initialized()

bool apollo::planning::Obstacle::is_path_st_boundary_initialized ( )

inline

◆ IsBlockingObstacle()

bool apollo::planning::Obstacle::IsBlockingObstacle ( ) const

inline

◆ IsCautionLevelObstacle()

bool apollo::planning::Obstacle::IsCautionLevelObstacle ( ) const

inline

◆ IsIgnore()

bool apollo::planning::Obstacle::IsIgnore ( ) const

Check if this object can be safely ignored. The object will be ignored if the lateral decision is ignore and the longitudinal decision is ignore return longitudinal_decision_ == ignore && lateral_decision == ignore.

◆ IsLaneBlocking()

bool apollo::planning::Obstacle::IsLaneBlocking ( ) const

inline

◆ IsLaneChangeBlocking()

bool apollo::planning::Obstacle::IsLaneChangeBlocking ( ) const

inline

◆ IsLateralDecision()

static bool apollo::planning::Obstacle::IsLateralDecision ( const ObjectDecisionType & decision )

static

check if an ObjectDecisionType is a lateral decision.

◆ IsLateralIgnore()

bool apollo::planning::Obstacle::IsLateralIgnore ( ) const

◆ IsLongitudinalDecision()

static bool apollo::planning::Obstacle::IsLongitudinalDecision ( const ObjectDecisionType & decision )

static

check if an ObjectDecisionType is a longitudinal decision.

◆ IsLongitudinalIgnore()

bool apollo::planning::Obstacle::IsLongitudinalIgnore ( ) const

◆ IsStatic()

bool apollo::planning::Obstacle::IsStatic ( ) const

inline

◆ IsValidPerceptionObstacle()

static bool apollo::planning::Obstacle::IsValidPerceptionObstacle ( const perception::PerceptionObstacle & obstacle )

static

◆ IsValidTrajectoryPoint()

static bool apollo::planning::Obstacle::IsValidTrajectoryPoint ( const common::TrajectoryPoint & point )

static

◆ IsVirtual()

bool apollo::planning::Obstacle::IsVirtual ( ) const

inline

◆ LateralDecision()

const ObjectDecisionType& apollo::planning::Obstacle::LateralDecision ( ) const

return the merged lateral decision Lateral decision is one of {Nudge, Ignore}

◆ LongitudinalDecision()

const ObjectDecisionType& apollo::planning::Obstacle::LongitudinalDecision ( ) const

return the merged longitudinal decision Longitudinal decision is one of {Stop, Yield, Follow, Overtake, Ignore}

◆ MinRadiusStopDistance()

double apollo::planning::Obstacle::MinRadiusStopDistance ( const common::VehicleParam & vehicle_param ) const

Calculate stop distance with the obstacle using the ADC's minimum turning radius.

◆ path_st_boundary()

const STBoundary& apollo::planning::Obstacle::path_st_boundary ( ) const

◆ Perception()

const perception::PerceptionObstacle& apollo::planning::Obstacle::Perception ( ) const

inline

◆ PerceptionBoundingBox()

const common::math::Box2d& apollo::planning::Obstacle::PerceptionBoundingBox ( ) const

inline

◆ PerceptionId()

int32_t apollo::planning::Obstacle::PerceptionId ( ) const

inline

◆ PerceptionPolygon()

const common::math::Polygon2d& apollo::planning::Obstacle::PerceptionPolygon ( ) const

inline

◆ PerceptionSLBoundary()

const SLBoundary& apollo::planning::Obstacle::PerceptionSLBoundary ( ) const

◆ reference_line_st_boundary()

const STBoundary& apollo::planning::Obstacle::reference_line_st_boundary ( ) const

◆ set_path_st_boundary()

void apollo::planning::Obstacle::set_path_st_boundary ( const STBoundary & boundary )

◆ SetBlockingObstacle()

void apollo::planning::Obstacle::SetBlockingObstacle ( bool blocking )

inline

◆ SetId()

void apollo::planning::Obstacle::SetId ( const std::string & id )

inline

◆ SetLaneChangeBlocking()

void apollo::planning::Obstacle::SetLaneChangeBlocking ( const bool is_distance_clear )

◆ SetPerceptionSlBoundary()

void apollo::planning::Obstacle::SetPerceptionSlBoundary ( const SLBoundary & sl_boundary )

◆ SetReferenceLineStBoundary()

void apollo::planning::Obstacle::SetReferenceLineStBoundary ( const STBoundary & boundary )

◆ SetReferenceLineStBoundaryType()

void apollo::planning::Obstacle::SetReferenceLineStBoundaryType ( const STBoundary::BoundaryType type )

◆ SetStBoundaryType()

void apollo::planning::Obstacle::SetStBoundaryType ( const STBoundary::BoundaryType type )

◆ speed()

double apollo::planning::Obstacle::speed ( ) const

inline

◆ Trajectory()

const prediction::Trajectory& apollo::planning::Obstacle::Trajectory ( ) const

inline

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

modules/planning/common/obstacle.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Obstacle() [1/3]

◆ Obstacle() [2/3]

◆ Obstacle() [3/3]

Member Function Documentation

◆ AddLateralDecision()

◆ AddLongitudinalDecision()

◆ AddTrajectoryPoint()

◆ BuildReferenceLineStBoundary()

◆ CheckLaneBlocking()

◆ CreateObstacles()

◆ CreateStaticVirtualObstacles()

◆ DebugString()

◆ decider_tags()

◆ decisions()

◆ EraseReferenceLineStBoundary()

◆ EraseStBoundary()

◆ GetBoundingBox()

◆ GetPointAtTime()

◆ HasLateralDecision()

◆ HasLongitudinalDecision()

◆ HasNonIgnoreDecision()

◆ HasTrajectory()

◆ Id()

◆ is_path_st_boundary_initialized()

◆ IsBlockingObstacle()

◆ IsCautionLevelObstacle()

◆ IsIgnore()

◆ IsLaneBlocking()

◆ IsLaneChangeBlocking()

◆ IsLateralDecision()

◆ IsLateralIgnore()

◆ IsLongitudinalDecision()

◆ IsLongitudinalIgnore()

◆ IsStatic()

◆ IsValidPerceptionObstacle()

◆ IsValidTrajectoryPoint()

◆ IsVirtual()

◆ LateralDecision()

◆ LongitudinalDecision()

◆ MinRadiusStopDistance()

◆ path_st_boundary()

◆ Perception()

◆ PerceptionBoundingBox()

◆ PerceptionId()

◆ PerceptionPolygon()

◆ PerceptionSLBoundary()

◆ reference_line_st_boundary()

◆ set_path_st_boundary()

◆ SetBlockingObstacle()

◆ SetId()

◆ SetLaneChangeBlocking()

◆ SetPerceptionSlBoundary()

◆ SetReferenceLineStBoundary()

◆ SetReferenceLineStBoundaryType()

◆ SetStBoundaryType()

◆ speed()

◆ Trajectory()