Udacity 5.Behavior_Planning 4

udacity5_Behavior_Planner 设计4 vehicle.h 代码解析

vehicle.h 头文件代码解析

定义车辆类

#ifndef VEHICLE_H
#define VEHICLE_H

#include <map>
#include <string>
#include <vector>

using std::map;
using std::string;
using std::vector;

class Vehicle {
 public:
  // Constructors
  Vehicle();//这里实现了一个多态
  Vehicle(int lane, float s, float v, float a, string state="CS");

  // Destructor
  virtual ~Vehicle();

  // Vehicle functions 选择下一个状态， 使用的应该是向量机
  vector<Vehicle> choose_next_state(map<int, vector<Vehicle>> &predictions);

  vector<string> successor_states();// 继承状态

  vector<Vehicle> generate_trajectory(string state,  //生成轨迹
                                      map<int, vector<Vehicle>> &predictions);

  vector<float> get_kinematics(map<int, vector<Vehicle>> &predictions, int lane);

  vector<Vehicle> constant_speed_trajectory();//定速车辆

  vector<Vehicle> keep_lane_trajectory(map<int, vector<Vehicle>> &predictions);//保持道路

  vector<Vehicle> lane_change_trajectory(string state, //转弯路线
                                         map<int, vector<Vehicle>> &predictions);

  vector<Vehicle> prep_lane_change_trajectory(string state, //预转弯路线
                                              map<int, vector<Vehicle>> &predictions);

  void increment(int dt);//时间增量

  float position_at(int t);//找出在哪个位置

  bool get_vehicle_behind(map<int, vector<Vehicle>> &predictions, int lane, 
                          Vehicle &rVehicle);//找到后面的车

  bool get_vehicle_ahead(map<int, vector<Vehicle>> &predictions, int lane, 
                         Vehicle &rVehicle);//获取前面的车

  vector<Vehicle> generate_predictions(int horizon=2);//生成2之后的预测

  void realize_next_state(vector<Vehicle> &trajectory);//到达下一个状态

  void configure(vector<int> &road_data);//配置，路的数据

  // public Vehicle variables
  struct collider{//对撞机
    bool collision; // is there a collision? 是不是碰撞
    int  time; // time collision happens
  };

  map<string, int> lane_direction = {{"PLCL", 1}, {"LCL", 1}, //道路方向
                                     {"LCR", -1}, {"PLCR", -1}};

  int L = 1;

  int preferred_buffer = 6; // impacts "keep lane" behavior. 首选缓冲区

  int lane, s, goal_lane, goal_s, lanes_available;

  float v, target_speed, a, max_acceleration;

  string state;
};

#endif  // VEHICLE_H