apollo::planning Namespace Reference

apollo::planning More...

Namespaces
	scenario
	util

Classes
class	AffineConstraint
struct	AnchorPoint
class	AutotuningBaseModel
class	AutotuningFeatureBuilder
	: build model related input feature from raw feature generator More...
class	AutotuningMLPModel
class	AutotuningRawFeatureGenerator
class	AutotuningSpeedFeatureBuilder
	: build the mlp cost functional for speed profile based on trajectory raw feature More...
class	AutotuningSpeedMLPModel
class	BacksideVehicle
class	BackupTrajectoryGenerator
class	BirdviewImgFeatureRenderer
class	CollisionChecker
class	ComparableCost
class	ConstantDecelerationTrajectory1d
class	ConstantJerkTrajectory1d
class	ConstraintChecker
class	ConstraintChecker1d
class	CosThetaIpoptInterface
class	CosThetaSmoother
class	CreepDecider
class	Crosswalk
class	CubicPolynomialCurve1d
class	Curve1d
class	CurveMath
class	Decider
class	DecisionData
class	DependencyInjector
class	Destination
class	DiscretePointsMath
class	DiscretePointsReferenceLineSmoother
class	DiscretizedPath
class	DiscretizedTrajectory
class	DistanceApproachInterface
class	DistanceApproachIPOPTCUDAInterface
class	DistanceApproachIPOPTFixedDualInterface
class	DistanceApproachIPOPTFixedTsInterface
class	DistanceApproachIPOPTInterface
class	DistanceApproachIPOPTRelaxEndInterface
class	DistanceApproachIPOPTRelaxEndSlackInterface
class	DistanceApproachProblem
class	DpRoadGraph
class	DpStCost
class	DualVariableWarmStartIPOPTInterface
class	DualVariableWarmStartIPOPTQPInterface
class	DualVariableWarmStartOSQPInterface
class	DualVariableWarmStartProblem
class	DualVariableWarmStartSlackOSQPInterface
class	EgoInfo
class	EndConditionSampler
struct	EnumClassHash
class	Evaluator
class	EvaluatorLogger
class	FeasibleRegion
class	FeatureOutput
class	FemPosDeviationIpoptInterface
class	FemPosDeviationOsqpInterface
class	FemPosDeviationSmoother
class	FemPosDeviationSqpOsqpInterface
class	Frame
	Frame holds all data for one planning cycle. More...
class	FrameHistory
class	FrenetFramePath
struct	GearSwitchStates
struct	GridAStartResult
class	GriddedPathTimeGraph
class	GridSearch
class	History
class	HistoryFrame
class	HistoryObjectDecision
class	HistoryObjectStatus
class	HistoryStatus
class	HybridAStar
struct	HybridAStartResult
class	IndexedList
class	IndexedQueue
class	IterativeAnchoringSmoother
class	KeepClear
class	LaneChangeDecider
class	LateralOSQPOptimizer
class	LateralQPOptimizer
class	LatticePlanner
class	LatticeTrajectory1d
class	LearningBasedData
class	LearningModelInferenceTask
class	LearningModelInferenceTrajectoryTask
struct	LocalView
class	MessageProcess
class	ModelInference
class	NaviObstacleDecider
	NaviObstacleDecider is used to make appropriate decisions for obstacles around the vehicle in navigation mode. Note that NaviObstacleDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode. More...
class	NaviPathDecider
	NaviPathDecider is used to generate the local driving path of the .* vehicle in navigation mode. Note that NaviPathDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode. More...
class	NaviPlanner
	NaviPlanner is a planner based on real-time relative maps. It uses the vehicle's FLU (Front-Left-Up) coordinate system to accomplish tasks such as cruising, following, overtaking, nudging, changing lanes and stopping. Note that NaviPlanner is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode. More...
class	NaviPlannerDispatcher
class	NaviPlanning
class	NaviSpeedDecider
	NaviSpeedDecider is used to generate an appropriate speed curve of the vehicle in navigation mode. Note that NaviSpeedDecider is only used in navigation mode (turn on navigation mode by setting "FLAGS_use_navigation_mode" to "true") and do not use it in standard mode. More...
struct	NaviSpeedTsConstraints
	NaviSpeedTsConstraints is used to describe constraints of a t-s point. More...
class	NaviSpeedTsGraph
	NaviSpeedTsGraph is used to generate a t-s graph with some limits and preferred. More...
struct	NaviSpeedTsPoint
	NaviSpeedTsPoint is used to describe a t-s point. More...
class	NaviTask
class	Node2d
class	Node3d
class	Obstacle
	This is the class that associates an Obstacle with its path properties. An obstacle's path properties relative to a path. The s and l values are examples of path properties. The decision of an obstacle is also associated with a path. More...
class	OnLanePlannerDispatcher
class	OnLanePlanning
class	OpenSpaceFallbackDecider
class	OpenSpaceInfo
class	OpenSpacePreStopDecider
class	OpenSpaceRoiDecider
class	OpenSpaceTrajectoryOptimizer
class	OpenSpaceTrajectoryPartition
class	OpenSpaceTrajectoryProvider
struct	OpenSpaceTrajectoryThreadData
class	OsqpSpline1dSolver
class	OsqpSpline2dSolver
class	PathAssessmentDecider
class	PathBoundary
class	PathBoundsDecider
class	PathData
class	PathDecider
class	PathDecision
	PathDecision represents all obstacle decisions on one path. More...
class	PathLaneBorrowDecider
class	PathOptimizer
class	PathReferenceDecider
class	PathReuseDecider
class	PathTimeGraph
class	PathTimeHeuristicOptimizer
	PathTimeHeuristicOptimizer does ST graph speed planning with dynamic programming algorithm. More...
class	PiecewiseAccelerationTrajectory1d
class	PiecewiseBrakingTrajectoryGenerator
class	PiecewiseJerkPathIpoptSolver
class	PiecewiseJerkPathOptimizer
class	PiecewiseJerkPathProblem
class	PiecewiseJerkProblem
class	PiecewiseJerkSpeedNonlinearIpoptInterface
class	PiecewiseJerkSpeedNonlinearOptimizer
class	PiecewiseJerkSpeedOptimizer
class	PiecewiseJerkSpeedProblem
class	PiecewiseJerkTrajectory1d
class	PiecewiseQuinticSpiralPath
class	PiecewiseTrajectory1d
class	Planner
	Planner is a base class for specific planners. It contains a pure virtual function Plan which must be implemented in derived class. More...
class	PlannerDispatcher
class	PlannerWithReferenceLine
class	PlanningBase
class	PlanningComponent
class	PlanningContext
class	PlanningTestBase
class	PolynomialCurve1d
class	PolynomialXd
class	PredictionQuerier
class	PublicRoadPlanner
	PublicRoadPlanner is an expectation maximization planner. More...
class	PublishableTrajectory
class	QpSplineReferenceLineSmoother
class	QuarticPolynomialCurve1d
class	QuinticPolynomialCurve1d
class	QuinticSpiralPath
class	QuinticSpiralPathWithDerivation
class	ReedShepp
struct	ReedSheppPath
class	ReferenceLine
class	ReferenceLineEnd
class	ReferenceLineInfo
	ReferenceLineInfo holds all data for one reference line. More...
class	ReferenceLineProvider
	The class of ReferenceLineProvider. It provides smoothed reference line to planning. More...
class	ReferenceLineSmoother
class	ReferencePoint
class	Rerouting
struct	RSPParam
struct	rss_world_model_struct
class	RssDecider
class	RTKReplayPlanner
	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...
class	RuleBasedStopDecider
struct	SamplePoint
class	Smoother
class	SpeedBoundsDecider
class	SpeedData
class	SpeedDecider
class	SpeedLimit
class	SpeedLimitDecider
class	SpeedOptimizer
class	SpeedProfileGenerator
class	SpiralProblemInterface
class	SpiralReferenceLineSmoother
class	Spline1d
class	Spline1dConstraint
class	Spline1dKernel
class	Spline1dSeg
class	Spline1dSolver
class	Spline2d
class	Spline2dConstraint
class	Spline2dKernel
class	Spline2dSeg
class	Spline2dSolver
class	SplineSegKernel
class	StandingStillTrajectory1d
class	STBoundary
class	STBoundaryMapper
class	STBoundsDecider
class	STDrivingLimits
class	StGapEstimator
class	StGraphData
class	StGraphPoint
class	STGuideLine
class	STObstaclesProcessor
class	StopSign
class	STPoint
class	Task
class	TaskFactory
class	ThreadSafeIndexedList
class	TrafficDecider
	Create traffic related decision in this class. The created obstacles is added to obstacles_, and the decision is added to obstacles_ Traffic obstacle examples include: More...
class	TrafficLight
class	TrafficRule
class	Trajectory1dGenerator
class	TrajectoryCombiner
class	TrajectoryCost
class	TrajectoryEvaluator
class	TrajectoryImitationLibtorchInference
class	TrajectoryOptimizer
class	TrajectoryStitcher
class	WaypointSampler
class	YieldSign

Typedefs
typedef IndexedList< std::string, Obstacle >	IndexedObstacles
typedef ThreadSafeIndexedList< std::string, Obstacle >	ThreadSafeIndexedObstacles
typedef std::pair< DiscretizedTrajectory, canbus::Chassis::GearPosition >	TrajGearPair

Enumerations
enum	VirtualObjectType {   VirtualObjectType::DESTINATION = 0, VirtualObjectType::CROSSWALK = 1, VirtualObjectType::TRAFFIC_LIGHT = 2, VirtualObjectType::CLEAR_ZONE = 3,   VirtualObjectType::REROUTE = 4, VirtualObjectType::DECISION_JUMP = 5, VirtualObjectType::PRIORITY = 6 }

Functions
bool	IsNonmovableObstacle (const ReferenceLineInfo &reference_line_info, const Obstacle &obstacle)
bool	IsBlockingObstacleToSidePass (const Frame &frame, const Obstacle *obstacle, double block_obstacle_min_speed, double min_front_sidepass_distance, bool enable_obstacle_blocked_check)
	Decide whether an obstacle is a blocking one that needs to be side-passed. More...
double	GetDistanceBetweenADCAndObstacle (const Frame &frame, const Obstacle *obstacle)
bool	IsBlockingDrivingPathObstacle (const ReferenceLine &reference_line, const Obstacle *obstacle)
bool	IsParkedVehicle (const ReferenceLine &reference_line, const Obstacle *obstacle)
	DECLARE_string (test_routing_response_file)
	DECLARE_string (test_localization_file)
	DECLARE_string (test_chassis_file)
	DECLARE_string (test_data_dir)
	DECLARE_string (test_prediction_file)
	DECLARE_string (test_traffic_light_file)
	DECLARE_string (test_relative_map_file)
	DECLARE_string (test_previous_planning_file)
bool	InitialCuda ()
__global__ void	fill_lower_left_gpu (int *iRow, int *jCol, unsigned int *rind_L, unsigned int *cind_L, const int nnz_L)
template<typename T >
__global__ void	data_transfer_gpu (T *dst, const T *src, const int size)
bool	fill_lower_left (int *iRow, int *jCol, unsigned int *rind_L, unsigned int *cind_L, const int nnz_L)
template<typename T >
bool	data_transfer (T *dst, const T *src, const int size)
int	ContainsOutOnReverseLane (const std::vector< std::tuple< double, PathData::PathPointType, double >> &path_point_decision)
int	GetBackToInLaneIndex (const std::vector< std::tuple< double, PathData::PathPointType, double >> &path_point_decision)
bool	ComparePathData (const PathData &lhs, const PathData &rhs, const Obstacle *blocking_obstacle)
bool	IsWithinPathDeciderScopeObstacle (const Obstacle &obstacle)

Variables
constexpr double	kObsSpeedIgnoreThreshold = 100.0
constexpr double	kPathBoundsDeciderHorizon = 100.0
constexpr double	kPathBoundsDeciderResolution = 0.5
constexpr double	kDefaultLaneWidth = 5.0
constexpr double	kDefaultRoadWidth = 20.0
constexpr int	kNumExtraTailBoundPoint = 20
constexpr double	kPulloverLonSearchCoeff = 1.5
constexpr double	kPulloverLatSearchCoeff = 1.25
constexpr double	kSTBoundsDeciderResolution = 0.1
constexpr double	kSTPassableThreshold = 3.0
constexpr double	kADCSafetyLBuffer = 0.1
constexpr double	kSIgnoreThreshold = 0.01
constexpr double	kTIgnoreThreshold = 0.1
constexpr double	kOvertakenObsCautionTime = 0.5

Detailed Description

apollo::planning

Typedef Documentation

IndexedObstacles

typedef IndexedList<std::string, Obstacle> apollo::planning::IndexedObstacles

ThreadSafeIndexedObstacles

typedef ThreadSafeIndexedList<std::string, Obstacle> apollo::planning::ThreadSafeIndexedObstacles

TrajGearPair

typedef std::pair<DiscretizedTrajectory, canbus::Chassis::GearPosition> apollo::planning::TrajGearPair

Enumeration Type Documentation

VirtualObjectType

enum apollo::planning::VirtualObjectType

strong

Enumerator
DESTINATION
CROSSWALK
TRAFFIC_LIGHT
CLEAR_ZONE
REROUTE
DECISION_JUMP
PRIORITY

Function Documentation

ComparePathData()

bool apollo::planning::ComparePathData	(	const PathData &	lhs,
		const PathData &	rhs,
		const Obstacle *	blocking_obstacle
	)

ContainsOutOnReverseLane()

int apollo::planning::ContainsOutOnReverseLane

(

const std::vector< std::tuple< double, PathData::PathPointType, double >> &

path_point_decision

)

data_transfer()

template<typename T >

bool apollo::planning::data_transfer	(	T *	dst,
		const T *	src,
		const int	size
	)

data_transfer_gpu()

template<typename T >

__global__ void apollo::planning::data_transfer_gpu	(	T *	dst,
		const T *	src,
		const int	size
	)

DECLARE_string() [1/8]

apollo::planning::DECLARE_string

(

test_routing_response_file

)

DECLARE_string() [2/8]

apollo::planning::DECLARE_string

(

test_localization_file

)

DECLARE_string() [3/8]

apollo::planning::DECLARE_string

(

test_chassis_file

)

DECLARE_string() [4/8]

apollo::planning::DECLARE_string

(

test_data_dir

)

DECLARE_string() [5/8]

apollo::planning::DECLARE_string

(

test_prediction_file

)

DECLARE_string() [6/8]

apollo::planning::DECLARE_string

(

test_traffic_light_file

)

DECLARE_string() [7/8]

apollo::planning::DECLARE_string

(

test_relative_map_file

)

DECLARE_string() [8/8]

apollo::planning::DECLARE_string

(

test_previous_planning_file

)

fill_lower_left()

bool apollo::planning::fill_lower_left	(	int *	iRow,
		int *	jCol,
		unsigned int *	rind_L,
		unsigned int *	cind_L,
		const int	nnz_L
	)

fill_lower_left_gpu()

__global__ void apollo::planning::fill_lower_left_gpu	(	int *	iRow,
		int *	jCol,
		unsigned int *	rind_L,
		unsigned int *	cind_L,
		const int	nnz_L
	)

GetBackToInLaneIndex()

int apollo::planning::GetBackToInLaneIndex

(

const std::vector< std::tuple< double, PathData::PathPointType, double >> &

path_point_decision

)

GetDistanceBetweenADCAndObstacle()

double apollo::planning::GetDistanceBetweenADCAndObstacle	(	const Frame &	frame,
		const Obstacle *	obstacle
	)

InitialCuda()

bool apollo::planning::InitialCuda

(

)

IsBlockingDrivingPathObstacle()

bool apollo::planning::IsBlockingDrivingPathObstacle	(	const ReferenceLine &	reference_line,
		const Obstacle *	obstacle
	)

IsBlockingObstacleToSidePass()

bool apollo::planning::IsBlockingObstacleToSidePass	(	const Frame &	frame,
		const Obstacle *	obstacle,
		double	block_obstacle_min_speed,
		double	min_front_sidepass_distance,
		bool	enable_obstacle_blocked_check
	)

Decide whether an obstacle is a blocking one that needs to be side-passed.

Parameters

The	frame that contains reference_line and other info.
The	obstacle of interest.
The	speed threshold to tell whether an obstacle is stopped.
The	minimum distance to front blocking obstacle for side-pass. (if too close, don't side-pass for safety consideration)
Whether	to take into consideration that the blocking obstacle itself is blocked by others as well. In other words, if the front blocking obstacle is blocked by others, then don't try to side-pass it. (Parked obstacles are never blocked by others)

IsNonmovableObstacle()

bool apollo::planning::IsNonmovableObstacle	(	const ReferenceLineInfo &	reference_line_info,
		const Obstacle &	obstacle
	)

IsParkedVehicle()

bool apollo::planning::IsParkedVehicle	(	const ReferenceLine &	reference_line,
		const Obstacle *	obstacle
	)

IsWithinPathDeciderScopeObstacle()

bool apollo::planning::IsWithinPathDeciderScopeObstacle

(

const Obstacle &

obstacle

)

Variable Documentation

kADCSafetyLBuffer

constexpr double apollo::planning::kADCSafetyLBuffer = 0.1

kDefaultLaneWidth

constexpr double apollo::planning::kDefaultLaneWidth = 5.0

kDefaultRoadWidth

constexpr double apollo::planning::kDefaultRoadWidth = 20.0

kNumExtraTailBoundPoint

constexpr int apollo::planning::kNumExtraTailBoundPoint = 20

kObsSpeedIgnoreThreshold

constexpr double apollo::planning::kObsSpeedIgnoreThreshold = 100.0

kOvertakenObsCautionTime

constexpr double apollo::planning::kOvertakenObsCautionTime = 0.5

kPathBoundsDeciderHorizon

constexpr double apollo::planning::kPathBoundsDeciderHorizon = 100.0

kPathBoundsDeciderResolution

constexpr double apollo::planning::kPathBoundsDeciderResolution = 0.5

kPulloverLatSearchCoeff

constexpr double apollo::planning::kPulloverLatSearchCoeff = 1.25

kPulloverLonSearchCoeff

constexpr double apollo::planning::kPulloverLonSearchCoeff = 1.5

kSIgnoreThreshold

constexpr double apollo::planning::kSIgnoreThreshold = 0.01

kSTBoundsDeciderResolution

constexpr double apollo::planning::kSTBoundsDeciderResolution = 0.1

kSTPassableThreshold

constexpr double apollo::planning::kSTPassableThreshold = 3.0

kTIgnoreThreshold

constexpr double apollo::planning::kTIgnoreThreshold = 0.1