util.h File Reference

#include <string>
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"

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Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::planning
	apollo::planning
	apollo::planning::scenario
	apollo::planning::scenario::util

Enumerations
enum	apollo::planning::scenario::util::PullOverStatus {   apollo::planning::scenario::util::UNKNOWN = 0, apollo::planning::scenario::util::APPROACHING = 1, apollo::planning::scenario::util::PARK_COMPLETE = 2, apollo::planning::scenario::util::PARK_FAIL = 3,   apollo::planning::scenario::util::PASS_DESTINATION = 4 }

Functions
hdmap::PathOverlap *	apollo::planning::scenario::util::GetOverlapOnReferenceLine (const ReferenceLineInfo &reference_line_info, const std::string &overlap_id, const ReferenceLineInfo::OverlapType &overlap_type)
PullOverStatus	apollo::planning::scenario::util::CheckADCPullOver (const common::VehicleStateProvider *vehicle_state_provider, const ReferenceLineInfo &reference_line_info, const ScenarioPullOverConfig &scenario_config, const PlanningContext *planning_context)
PullOverStatus	apollo::planning::scenario::util::CheckADCPullOverPathPoint (const ReferenceLineInfo &reference_line_info, const ScenarioPullOverConfig &scenario_config, const common::PathPoint &path_point, const PlanningContext *planning_context)
bool	apollo::planning::scenario::util::CheckPullOverPositionBySL (const ReferenceLineInfo &reference_line_info, const ScenarioPullOverConfig &scenario_config, const common::math::Vec2d &adc_position, const double adc_theta, const common::math::Vec2d &target_position, const double target_theta, const bool check_s)
bool	apollo::planning::scenario::util::CheckADCReadyToCruise (const common::VehicleStateProvider *vehicle_state_provider, Frame *frame, const ScenarioParkAndGoConfig &scenario_config)
bool	apollo::planning::scenario::util::CheckADCSurroundObstacles (const common::math::Vec2d adc_position, const double adc_heading, Frame *frame, const double front_obstacle_buffer)
bool	apollo::planning::scenario::util::CheckADCHeading (const common::math::Vec2d adc_position, const double adc_heading, const ReferenceLineInfo &reference_line_info, const double heading_buffer)