apollo::planning::PlanningBase Class Reference

#include <planning_base.h>

Inheritance diagram for apollo::planning::PlanningBase:

Collaboration diagram for apollo::planning::PlanningBase:

Public Member Functions
	PlanningBase ()=delete
	PlanningBase (const std::shared_ptr< DependencyInjector > &injector)
virtual	~PlanningBase ()
virtual apollo::common::Status	Init (const PlanningConfig &config)
virtual std::string	Name () const =0
virtual void	RunOnce (const LocalView &local_view, ADCTrajectory *const adc_trajectory)=0
virtual apollo::common::Status	Plan (const double current_time_stamp, const std::vector< common::TrajectoryPoint > &stitching_trajectory, ADCTrajectory *const trajectory)=0
	Plan the trajectory given current vehicle state. More...

Protected Member Functions
virtual void	FillPlanningPb (const double timestamp, ADCTrajectory *const trajectory_pb)

Protected Attributes
LocalView	local_view_
const hdmap::HDMap *	hdmap_ = nullptr
double	start_time_ = 0.0
size_t	seq_num_ = 0
PlanningConfig	config_
TrafficRuleConfigs	traffic_rule_configs_
std::unique_ptr< Frame >	frame_
std::unique_ptr< Planner >	planner_
std::unique_ptr< PublishableTrajectory >	last_publishable_trajectory_
std::unique_ptr< PlannerDispatcher >	planner_dispatcher_
std::shared_ptr< DependencyInjector >	injector_

Constructor & Destructor Documentation

PlanningBase() [1/2]

apollo::planning::PlanningBase::PlanningBase ( )

delete

PlanningBase() [2/2]

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

explicit

~PlanningBase()

virtual apollo::planning::PlanningBase::~PlanningBase ( )

virtual

Member Function Documentation

FillPlanningPb()

virtual void apollo::planning::PlanningBase::FillPlanningPb ( const double  timestamp, ADCTrajectory *const  trajectory_pb  )

protectedvirtual

Init()

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

virtual

Reimplemented in apollo::planning::NaviPlanning, and apollo::planning::OnLanePlanning.

Name()

virtual std::string apollo::planning::PlanningBase::Name ( ) const

pure virtual

Implemented in apollo::planning::NaviPlanning, and apollo::planning::OnLanePlanning.

Plan()

virtual apollo::common::Status apollo::planning::PlanningBase::Plan ( const double  current_time_stamp, const std::vector< common::TrajectoryPoint > &  stitching_trajectory, ADCTrajectory *const  trajectory  )

pure virtual

Plan the trajectory given current vehicle state.

Implemented in apollo::planning::NaviPlanning, and apollo::planning::OnLanePlanning.

RunOnce()

virtual void apollo::planning::PlanningBase::RunOnce ( const LocalView &  local_view, ADCTrajectory *const  adc_trajectory  )

pure virtual

Implemented in apollo::planning::NaviPlanning, and apollo::planning::OnLanePlanning.

Member Data Documentation

config_

PlanningConfig apollo::planning::PlanningBase::config_

protected

frame_

std::unique_ptr<Frame> apollo::planning::PlanningBase::frame_

protected

hdmap_

const hdmap::HDMap* apollo::planning::PlanningBase::hdmap_ = nullptr

protected

injector_

std::shared_ptr<DependencyInjector> apollo::planning::PlanningBase::injector_

protected

last_publishable_trajectory_

std::unique_ptr<PublishableTrajectory> apollo::planning::PlanningBase::last_publishable_trajectory_

protected

local_view_

LocalView apollo::planning::PlanningBase::local_view_

protected

planner_

std::unique_ptr<Planner> apollo::planning::PlanningBase::planner_

protected

planner_dispatcher_

std::unique_ptr<PlannerDispatcher> apollo::planning::PlanningBase::planner_dispatcher_

protected

seq_num_

size_t apollo::planning::PlanningBase::seq_num_ = 0

protected

start_time_

double apollo::planning::PlanningBase::start_time_ = 0.0

protected

traffic_rule_configs_

TrafficRuleConfigs apollo::planning::PlanningBase::traffic_rule_configs_

protected

---

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

• modules/planning/planning_base.h