apollo::planning::Planner Class Reference

Planner is a base class for specific planners. It contains a pure virtual function Plan which must be implemented in derived class. More...

#include <planner.h>

Inheritance diagram for apollo::planning::Planner:

Collaboration diagram for apollo::planning::Planner:

Public Member Functions
	Planner ()=delete
	Constructor. More...
	Planner (const std::shared_ptr< DependencyInjector > &injector)
virtual	~Planner ()=default
	Destructor. More...
virtual std::string	Name ()=0
virtual apollo::common::Status	Init (const PlanningConfig &config)=0
virtual apollo::common::Status	Plan (const common::TrajectoryPoint &planning_init_point, Frame *frame, ADCTrajectory *ptr_computed_trajectory)=0
	Compute trajectories for execution. More...
virtual void	Stop ()=0

Protected Attributes
PlanningConfig	config_
scenario::ScenarioManager	scenario_manager_
scenario::Scenario *	scenario_ = nullptr

Detailed Description

Planner is a base class for specific planners. It contains a pure virtual function Plan which must be implemented in derived class.

Constructor & Destructor Documentation

Planner() [1/2]

apollo::planning::Planner::Planner ( )

delete

Constructor.

Planner() [2/2]

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

inlineexplicit

~Planner()

virtual apollo::planning::Planner::~Planner ( )

virtualdefault

Destructor.

Member Function Documentation

Init()

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

pure virtual

Implemented in apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner, apollo::planning::RTKReplayPlanner, and apollo::planning::LatticePlanner.

Name()

virtual std::string apollo::planning::Planner::Name ( )

pure virtual

Implemented in apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner, apollo::planning::RTKReplayPlanner, and apollo::planning::LatticePlanner.

Plan()

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

pure virtual

Compute trajectories for execution.

Parameters

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

Returns

OK if planning succeeds; error otherwise.

Implemented in apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner, apollo::planning::RTKReplayPlanner, and apollo::planning::LatticePlanner.

Stop()

virtual void apollo::planning::Planner::Stop ( )

pure virtual

Implemented in apollo::planning::NaviPlanner, apollo::planning::PublicRoadPlanner, apollo::planning::RTKReplayPlanner, and apollo::planning::LatticePlanner.

Member Data Documentation

config_

PlanningConfig apollo::planning::Planner::config_

protected

scenario_

scenario::Scenario* apollo::planning::Planner::scenario_ = nullptr

protected

scenario_manager_

scenario::ScenarioManager apollo::planning::Planner::scenario_manager_

protected

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

• modules/planning/planner/planner.h