apollo::planning::STObstaclesProcessor Class Reference

#include <st_obstacles_processor.h>

Collaboration diagram for apollo::planning::STObstaclesProcessor:

Public Member Functions
	STObstaclesProcessor ()
void	Init (const double planning_distance, const double planning_time, const PathData &path_data, PathDecision *const path_decision, History *const history)
virtual	~STObstaclesProcessor ()=default
common::Status	MapObstaclesToSTBoundaries (PathDecision *const path_decision)
std::unordered_map< std::string, STBoundary >	GetAllSTBoundaries ()
bool	GetSBoundsFromDecisions (double t, std::vector< std::pair< double, double >> *const available_s_bounds, std::vector< std::vector< std::pair< std::string, ObjectDecisionType >>> *const available_obs_decisions)
	Given a time t, get the lower and upper s-boundaries. If the boundary is well-defined based on decision made previously, fill "available_s_bounds" with only one boundary. Otherwise, fill "available_s_bounds with all candidates and "available_obs_decisions" with corresponding possible obstacle decisions. More...
bool	GetLimitingSpeedInfo (double t, std::pair< double, double > *const limiting_speed_info)
	Provided that decisions for all existing obstacles are made, get the speed limiting info from limiting st-obstacles. More...
void	SetObstacleDecision (const std::string &obs_id, const ObjectDecisionType &obs_decision)
	Set the decision for a given obstacle. More...
void	SetObstacleDecision (const std::vector< std::pair< std::string, ObjectDecisionType >> &obstacle_decisions)
	Set the decision for a list of obstacles. More...

Constructor & Destructor Documentation

STObstaclesProcessor()

apollo::planning::STObstaclesProcessor::STObstaclesProcessor ( )

inline

~STObstaclesProcessor()

virtual apollo::planning::STObstaclesProcessor::~STObstaclesProcessor ( )

virtualdefault

Member Function Documentation

GetAllSTBoundaries()

std::unordered_map<std::string, STBoundary> apollo::planning::STObstaclesProcessor::GetAllSTBoundaries

(

)

GetLimitingSpeedInfo()

bool apollo::planning::STObstaclesProcessor::GetLimitingSpeedInfo	(	double	t,
		std::pair< double, double > *const	limiting_speed_info
	)

Provided that decisions for all existing obstacles are made, get the speed limiting info from limiting st-obstacles.

Parameters

Time	t.
The	actual limiting speed-info: (lower, upper)

Returns

True if there is speed limiting info; otherwise, false.

GetSBoundsFromDecisions()

bool apollo::planning::STObstaclesProcessor::GetSBoundsFromDecisions	(	double	t,
		std::vector< std::pair< double, double >> *const	available_s_bounds,
		std::vector< std::vector< std::pair< std::string, ObjectDecisionType >>> *const	available_obs_decisions
	)

Given a time t, get the lower and upper s-boundaries. If the boundary is well-defined based on decision made previously, fill "available_s_bounds" with only one boundary. Otherwise, fill "available_s_bounds with all candidates and "available_obs_decisions" with corresponding possible obstacle decisions.

Parameters

Time	t
The	available s-boundaries to be filled up.
The	corresponding possible obstacle decisions.

Returns

Whether we can get valid s-bounds.

Init()

void apollo::planning::STObstaclesProcessor::Init	(	const double	planning_distance,
		const double	planning_time,
		const PathData &	path_data,
		PathDecision *const	path_decision,
		History *const	history
	)

MapObstaclesToSTBoundaries()

common::Status apollo::planning::STObstaclesProcessor::MapObstaclesToSTBoundaries

(

PathDecision *const

path_decision

)

SetObstacleDecision() [1/2]

void apollo::planning::STObstaclesProcessor::SetObstacleDecision	(	const std::string &	obs_id,
		const ObjectDecisionType &	obs_decision
	)

Set the decision for a given obstacle.

SetObstacleDecision() [2/2]

void apollo::planning::STObstaclesProcessor::SetObstacleDecision

(

const std::vector< std::pair< std::string, ObjectDecisionType >> &

obstacle_decisions

)

Set the decision for a list of obstacles.

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

• modules/planning/tasks/deciders/st_bounds_decider/st_obstacles_processor.h