apollo::planning::RTKReplayPlanner Class Reference

RTKReplayPlanner is a derived class of Planner. It reads a recorded trajectory from a trajectory file and outputs proper segment of the trajectory according to vehicle position. More...

#include <rtk_replay_planner.h>

Inheritance diagram for apollo::planning::RTKReplayPlanner:

Collaboration diagram for apollo::planning::RTKReplayPlanner:

Public Member Functions
	RTKReplayPlanner (const std::shared_ptr< DependencyInjector > &injector)
	Constructor. More...
virtual	~RTKReplayPlanner ()=default
	Destructor. More...
std::string	Name () override
apollo::common::Status	Init (const PlanningConfig &config) override
void	Stop () override
apollo::common::Status	Plan (const common::TrajectoryPoint &planning_init_point, Frame *frame, ADCTrajectory *ptr_computed_trajectory) override
	Override function Plan in parent class Planner. More...
apollo::common::Status	PlanOnReferenceLine (const common::TrajectoryPoint &planning_init_point, Frame *frame, ReferenceLineInfo *reference_line_info) override
	Override function Plan in parent class Planner. More...
void	ReadTrajectoryFile (const std::string &filename)
	Read the recorded trajectory file. 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

RTKReplayPlanner is a derived class of Planner. It reads a recorded trajectory from a trajectory file and outputs proper segment of the trajectory according to vehicle position.

Constructor & Destructor Documentation

RTKReplayPlanner()

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

explicit

Constructor.

~RTKReplayPlanner()

virtual apollo::planning::RTKReplayPlanner::~RTKReplayPlanner ( )

virtualdefault

Destructor.

Member Function Documentation

Init()

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

overridevirtual

Implements apollo::planning::Planner.

Name()

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

inlineoverridevirtual

Implements apollo::planning::Planner.

Plan()

apollo::common::Status apollo::planning::RTKReplayPlanner::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()

apollo::common::Status apollo::planning::RTKReplayPlanner::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.

ReadTrajectoryFile()

void apollo::planning::RTKReplayPlanner::ReadTrajectoryFile

(

const std::string &

filename

)

Read the recorded trajectory file.

Parameters

filename

The name of the trajectory file.

Stop()

void apollo::planning::RTKReplayPlanner::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/rtk/rtk_replay_planner.h