From 007255e9431e02a057b0b0a15898ae8b537503af Mon Sep 17 00:00:00 2001 From: Dong Li Date: Wed, 13 Sep 2017 15:26:43 -0700 Subject: [PATCH] planning: refactor qp path optimizer code --- .../qp_spline_path_generator.cc | 40 +- .../garage_test/result_follow_0.pb.txt | 506 ++--- .../garage_test/result_stop_dest_0.pb.txt | 320 +-- .../result_follow_01_0.pb.txt | 1662 +++++++-------- .../result_yield_01_0.pb.txt | 566 +++--- .../result_cruise_0.pb.txt | 1490 +++++++------- .../result_follow_01_0.pb.txt | 1790 ++++++++--------- 7 files changed, 3180 insertions(+), 3194 deletions(-) diff --git a/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc b/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc index 7d77951173..8e94aeb35b 100644 --- a/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc +++ b/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc @@ -272,6 +272,7 @@ bool QpSplinePathGenerator::AddConstraint( } // add map bound constraint + const auto lateral_buf = qp_spline_path_config_.cross_lane_extension_buffer(); std::vector boundary_low; std::vector boundary_high; for (const double s : evaluated_s_) { @@ -283,35 +284,20 @@ bool QpSplinePathGenerator::AddConstraint( qp_frenet_frame.GetStaticObstacleBound(s, &static_obs_boundary); qp_frenet_frame.GetDynamicObstacleBound(s, &dynamic_obs_boundary); - if (init_frenet_point_.l() > road_boundary.second) { - road_boundary.second = - init_frenet_point_.l() + - qp_spline_path_config_.cross_lane_extension_buffer(); - } else if (init_frenet_point_.l() < road_boundary.first) { - road_boundary.first = - init_frenet_point_.l() - - qp_spline_path_config_.cross_lane_extension_buffer(); - } - - std::pair boundary = road_boundary; - - const double merged_first = - std::max(static_obs_boundary.first, dynamic_obs_boundary.first); - const double merged_second = - std::min(static_obs_boundary.second, dynamic_obs_boundary.second); - - if (merged_first < road_boundary.second) { - boundary.first = std::max(boundary.first, merged_first); - } - if (merged_second > road_boundary.first) { - boundary.second = std::min(boundary.second, merged_second); - } + road_boundary.first = + std::fmin(road_boundary.first, init_frenet_point_.l() - lateral_buf); + road_boundary.second = + std::fmax(road_boundary.second, init_frenet_point_.l() + lateral_buf); - boundary_low.push_back(boundary.first); - boundary_high.push_back(boundary.second); + boundary_low.emplace_back(common::util::MaxElement( + std::vector{road_boundary.first, static_obs_boundary.first, + dynamic_obs_boundary.first})); + boundary_high.emplace_back(common::util::MinElement( + std::vector{road_boundary.second, static_obs_boundary.second, + dynamic_obs_boundary.second})); - ADEBUG << "s:" << s << " boundary_low:" << boundary.first - << " boundary_high:" << boundary.second + ADEBUG << "s:" << s << " boundary_low:" << boundary_low.back() + << " boundary_high:" << boundary_high.back() << " road_boundary_low: " << road_boundary.first << " road_boundary_high: " << road_boundary.second << " static_obs_boundary_low: " << static_obs_boundary.first diff --git a/modules/planning/testdata/garage_test/result_follow_0.pb.txt b/modules/planning/testdata/garage_test/result_follow_0.pb.txt index 36eeaba183..127caa7187 100644 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -22,7 +22,7 @@ trajectory_point { x: 586344.89381303417 y: 4140700.4309554482 theta: 1.3194099183301358 - kappa: -0.0234045640122276 + kappa: -0.023404564012227638 s: 0.28013209727761307 dkappa: 0 ddkappa: 0 @@ -36,7 +36,7 @@ trajectory_point { x: 586344.96465737966 y: 4140700.7021298874 theta: 1.3133154322091976 - kappa: -0.020757554076194416 + kappa: -0.020757554076194493 s: 0.56040785005808513 dkappa: 0 ddkappa: 0 @@ -50,7 +50,7 @@ trajectory_point { x: 586345.03549410345 y: 4140700.973275152 theta: 1.3072217913723194 - kappa: -0.018110828915668249 + kappa: -0.01811082891566836 s: 0.84065344969537625 dkappa: 0 ddkappa: 0 @@ -64,7 +64,7 @@ trajectory_point { x: 586345.10986056272 y: 4140701.2432667445 theta: 1.3029245882404239 - kappa: -0.015855447162748039 + kappa: -0.015855447162748174 s: 1.1207043079688728 dkappa: 0 ddkappa: 0 @@ -78,7 +78,7 @@ trajectory_point { x: 586345.18482416845 y: 4140701.5127345063 theta: 1.2989782291264584 - kappa: -0.013677997627096261 + kappa: -0.013677997627096421 s: 1.40040489221913 dkappa: 0 ddkappa: 0 @@ -92,7 +92,7 @@ trajectory_point { x: 586345.25965459365 y: 4140701.7817235319 theta: 1.2950389121829595 - kappa: -0.011504416547727421 + kappa: -0.011504416547727601 s: 1.679608560483612 dkappa: 0 ddkappa: 0 @@ -105,8 +105,8 @@ trajectory_point { path_point { x: 586345.33603788563 y: 4140702.0496126483 - theta: 1.2922574219007577 - kappa: -0.0096290152255522343 + theta: 1.2922574219007574 + kappa: -0.0096290152255524286 s: 1.9581773966324343 dkappa: 0 ddkappa: 0 @@ -119,8 +119,8 @@ trajectory_point { path_point { x: 586345.41307441634 y: 4140702.3165223626 - theta: 1.2900587890518818 - kappa: -0.0079055940755538429 + theta: 1.2900587890518815 + kappa: -0.0079055940755540458 s: 2.2359820455041048 dkappa: 0 ddkappa: 0 @@ -133,8 +133,8 @@ trajectory_point { path_point { x: 586345.48986549187 y: 4140702.5825816453 - theta: 1.287867162991674 - kappa: -0.0061876641220488743 + theta: 1.2878671629916734 + kappa: -0.0061876641220490886 s: 2.5129015480412638 dkappa: 0 ddkappa: 0 @@ -147,8 +147,8 @@ trajectory_point { path_point { x: 586345.56697060016 y: 4140702.8475101516 - theta: 1.2863053771553166 - kappa: -0.0046699716900090249 + theta: 1.2863053771553157 + kappa: -0.0046699716900092418 s: 2.7888231764264284 dkappa: 0 ddkappa: 0 @@ -161,8 +161,8 @@ trajectory_point { path_point { x: 586345.6444414428 y: 4140703.111183818 - theta: 1.2854592294969927 - kappa: -0.0033796822100479319 + theta: 1.2854592294969918 + kappa: -0.0033796822100481444 s: 3.063642269217731 dkappa: 0 ddkappa: 0 @@ -175,8 +175,8 @@ trajectory_point { path_point { x: 586345.721574207 y: 4140703.3737068269 - theta: 1.284616774201246 - kappa: -0.0020950234829677406 + theta: 1.2846167742012451 + kappa: -0.0020950234829679487 s: 3.3372620664846617 dkappa: 0 ddkappa: 0 @@ -189,8 +189,8 @@ trajectory_point { path_point { x: 586345.79840691667 y: 4140703.6349751828 - theta: 1.2839946012689833 - kappa: -0.00090299996946188266 + theta: 1.2839946012689822 + kappa: -0.00090299996946208519 s: 3.6095935449438104 dkappa: 0 ddkappa: 0 @@ -203,8 +203,8 @@ trajectory_point { path_point { x: 586345.875069436 y: 4140703.8948657475 - theta: 1.2841167009717718 - kappa: -1.363676394248775e-05 + theta: 1.2841167009717709 + kappa: -1.3636763942680629e-05 s: 3.8805552530946055 dkappa: 0 ddkappa: 0 @@ -217,8 +217,8 @@ trajectory_point { path_point { x: 586345.95132346044 y: 4140704.1533714896 - theta: 1.2842381500698539 - kappa: 0.0008709874847412242 + theta: 1.284238150069853 + kappa: 0.00087098748474104086 s: 4.15007314635506 dkappa: 0 ddkappa: 0 @@ -231,8 +231,8 @@ trajectory_point { path_point { x: 586346.02715008962 y: 4140704.4104283354 - theta: 1.2843589184573594 - kappa: 0.0017506535142051008 + theta: 1.2843589184573585 + kappa: 0.0017506535142049271 s: 4.4180804221975079 dkappa: 0 ddkappa: 0 @@ -245,8 +245,8 @@ trajectory_point { path_point { x: 586346.10216778424 y: 4140704.6660862593 - theta: 1.2850680795788865 - kappa: 0.0023354323233112668 + theta: 1.2850680795788858 + kappa: 0.0023354323233111089 s: 4.6845173552843491 dkappa: 0 ddkappa: 0 @@ -259,8 +259,8 @@ trajectory_point { path_point { x: 586346.17670089565 y: 4140704.9201948028 - theta: 1.2858174605797625 - kappa: 0.0028947430422905478 + theta: 1.2858174605797617 + kappa: 0.0028947430422904064 s: 4.9493311326037883 dkappa: 0 ddkappa: 0 @@ -273,8 +273,8 @@ trajectory_point { path_point { x: 586346.25076419674 y: 4140705.1727016042 - theta: 1.2865621177369069 - kappa: 0.0034505282144317436 + theta: 1.286562117736906 + kappa: 0.0034505282144316183 s: 5.2124756886055783 dkappa: 0 ddkappa: 0 @@ -287,8 +287,8 @@ trajectory_point { path_point { x: 586346.32388938137 y: 4140705.4237020789 - theta: 1.2875137474425316 - kappa: 0.003857910053892087 + theta: 1.2875137474425307 + kappa: 0.0038579100538919803 s: 5.4739115403367595 dkappa: 0 ddkappa: 0 @@ -301,8 +301,8 @@ trajectory_point { path_point { x: 586346.39617929584 y: 4140705.6731317975 - theta: 1.2886203008306074 - kappa: 0.0041523377588829988 + theta: 1.2886203008306065 + kappa: 0.0041523377588829138 s: 5.7336056225774046 dkappa: 0 ddkappa: 0 @@ -315,8 +315,8 @@ trajectory_point { path_point { x: 586346.46797689772 y: 4140705.9208628377 - theta: 1.2897193187003051 - kappa: 0.00444476033734871 + theta: 1.2897193187003042 + kappa: 0.0044447603373486437 s: 5.9915311229763546 dkappa: 0 ddkappa: 0 @@ -329,8 +329,8 @@ trajectory_point { path_point { x: 586346.53914783907 y: 4140706.1669122707 - theta: 1.2908313609210524 - kappa: 0.0047090340615134844 + theta: 1.2908313609210516 + kappa: 0.0047090340615134384 s: 6.2476673171869672 dkappa: 0 ddkappa: 0 @@ -343,8 +343,8 @@ trajectory_point { path_point { x: 586346.60893773544 y: 4140706.4114816491 - theta: 1.2920768661145066 - kappa: 0.0047927296818405379 + theta: 1.2920768661145057 + kappa: 0.0047927296818405137 s: 6.5019994040028486 dkappa: 0 ddkappa: 0 @@ -357,8 +357,8 @@ trajectory_point { path_point { x: 586346.67823009507 y: 4140706.6543074762 - theta: 1.2933134944023155 - kappa: 0.0048758286305359963 + theta: 1.2933134944023146 + kappa: 0.0048758286305359937 s: 6.7545183404936049 dkappa: 0 ddkappa: 0 @@ -371,8 +371,8 @@ trajectory_point { path_point { x: 586346.7470239714 y: 4140706.8953864342 - theta: 1.2945412250989043 - kappa: 0.0049583297724320255 + theta: 1.2945412250989035 + kappa: 0.0049583297724320437 s: 7.0052206771405778 dkappa: 0 ddkappa: 0 @@ -385,8 +385,8 @@ trajectory_point { path_point { x: 586346.81468659476 y: 4140707.1348996409 - theta: 1.2957598741042409 - kappa: 0.0049451032758927116 + theta: 1.29575987410424 + kappa: 0.0049451032758927515 s: 7.2541083929725882 dkappa: 0 ddkappa: 0 @@ -399,8 +399,8 @@ trajectory_point { path_point { x: 586346.88143913168 y: 4140707.3727920372 - theta: 1.2969695494579838 - kappa: 0.00486907459832063 + theta: 1.2969695494579829 + kappa: 0.0048690745983206909 s: 7.5011887307016742 dkappa: 0 ddkappa: 0 @@ -413,8 +413,8 @@ trajectory_point { path_point { x: 586346.947706712 y: 4140707.6089561465 - theta: 1.2981704372242793 - kappa: 0.0047935982684505583 + theta: 1.2981704372242784 + kappa: 0.0047935982684506407 s: 7.7464740318588365 dkappa: 0 ddkappa: 0 @@ -427,8 +427,8 @@ trajectory_point { path_point { x: 586347.01349400275 y: 4140707.8434086032 - theta: 1.2993626185405696 - kappa: 0.00471866897047168 + theta: 1.2993626185405689 + kappa: 0.0047186689704717833 s: 7.9899815719297784 dkappa: 0 ddkappa: 0 @@ -441,8 +441,8 @@ trajectory_point { path_point { x: 586347.07785715139 y: 4140708.0764350207 - theta: 1.3004285887783549 - kappa: 0.0045332166152337611 + theta: 1.3004285887783542 + kappa: 0.004533216615233886 s: 8.2317333954906431 dkappa: 0 ddkappa: 0 @@ -455,8 +455,8 @@ trajectory_point { path_point { x: 586347.14174252038 y: 4140708.3077996313 - theta: 1.3014847775580838 - kappa: 0.0043470515126745757 + theta: 1.3014847775580829 + kappa: 0.0043470515126747232 s: 8.4717561513437669 dkappa: 0 ddkappa: 0 @@ -469,8 +469,8 @@ trajectory_point { path_point { x: 586347.20517594868 y: 4140708.5375275118 - theta: 1.3025334942902524 - kappa: 0.004162203387477529 + theta: 1.3025334942902516 + kappa: 0.004162203387477699 s: 8.7100809276534044 dkappa: 0 ddkappa: 0 @@ -483,8 +483,8 @@ trajectory_point { path_point { x: 586347.26795059722 y: 4140708.7657120456 - theta: 1.303522452447432 - kappa: 0.0039595892965275242 + theta: 1.3035224524474311 + kappa: 0.0039595892965277159 s: 8.9467430870814812 dkappa: 0 ddkappa: 0 @@ -497,8 +497,8 @@ trajectory_point { path_point { x: 586347.32969813165 y: 4140708.9924951587 - theta: 1.304359960925576 - kappa: 0.00370579613215083 + theta: 1.3043599609255754 + kappa: 0.0037057961321510392 s: 9.18178210192333 dkappa: 0 ddkappa: 0 @@ -511,8 +511,8 @@ trajectory_point { path_point { x: 586347.3910306528 y: 4140709.2177540339 - theta: 1.3051918411321932 - kappa: 0.0034537087443528226 + theta: 1.305191841132193 + kappa: 0.0034537087443530486 s: 9.415241389243441 dkappa: 0 ddkappa: 0 @@ -526,7 +526,7 @@ trajectory_point { x: 586347.45196056 y: 4140709.4415342095 theta: 1.3060182600884844 - kappa: 0.0032032761702403241 + kappa: 0.0032032761702405674 s: 9.647168146011186 dkappa: 0 ddkappa: 0 @@ -540,7 +540,7 @@ trajectory_point { x: 586347.51223079138 y: 4140709.6639579474 theta: 1.3067321586784535 - kappa: 0.0029402594455239838 + kappa: 0.0029402594455242418 s: 9.8776131842365782 dkappa: 0 ddkappa: 0 @@ -554,7 +554,7 @@ trajectory_point { x: 586347.57179968746 y: 4140709.8850927465 theta: 1.3073115569706617 - kappa: 0.0026616670268650453 + kappa: 0.0026616670268653133 s: 10.106630766106 dkappa: 0 ddkappa: 0 @@ -568,7 +568,7 @@ trajectory_point { x: 586347.63101226161 y: 4140710.104904789 theta: 1.3078874896796977 - kappa: 0.0023847410576499873 + kappa: 0.0023847410576502658 s: 10.334278439117952 dkappa: 0 ddkappa: 0 @@ -582,7 +582,7 @@ trajectory_point { x: 586347.68988543213 y: 4140710.3234568792 theta: 1.3084601209778912 - kappa: 0.0021094024150747322 + kappa: 0.0021094024150750219 s: 10.560621246367818 dkappa: 0 ddkappa: 0 @@ -596,7 +596,7 @@ trajectory_point { x: 586347.74822961364 y: 4140710.5408858806 theta: 1.3088971751957159 - kappa: 0.0018388315038712121 + kappa: 0.0018388315038715087 s: 10.78574222342573 dkappa: 0 ddkappa: 0 @@ -610,7 +610,7 @@ trajectory_point { x: 586347.80610186828 y: 4140710.7572629913 theta: 1.3092210273035465 - kappa: 0.0015723777397895497 + kappa: 0.0015723777397898503 s: 11.009724928203823 dkappa: 0 ddkappa: 0 @@ -624,7 +624,7 @@ trajectory_point { x: 586347.86370048241 y: 4140710.9726169943 theta: 1.3095433481530554 - kappa: 0.0013071838640162418 + kappa: 0.001307183864016546 s: 11.232648562970292 dkappa: 0 ddkappa: 0 @@ -638,7 +638,7 @@ trajectory_point { x: 586347.92104482756 y: 4140711.1870203177 theta: 1.3098642460812078 - kappa: 0.0010431606857548839 + kappa: 0.001043160685755192 s: 11.454588102067827 dkappa: 0 ddkappa: 0 @@ -652,7 +652,7 @@ trajectory_point { x: 586347.97805695212 y: 4140711.4005671339 theta: 1.3100636478702841 - kappa: 0.00080411053924713872 + kappa: 0.00080411053924745054 s: 11.67561441963208 dkappa: 0 ddkappa: 0 @@ -666,7 +666,7 @@ trajectory_point { x: 586348.034773611 y: 4140711.613316874 theta: 1.3101659553327907 - kappa: 0.00058512286510698441 + kappa: 0.0005851228651072998 s: 11.8957944173101 dkappa: 0 ddkappa: 0 @@ -680,7 +680,7 @@ trajectory_point { x: 586348.09128850745 y: 4140711.8253097842 theta: 1.3102678988501897 - kappa: 0.00036691421243318723 + kappa: 0.00036691421243350604 s: 12.115191151978788 dkappa: 0 ddkappa: 0 @@ -694,7 +694,7 @@ trajectory_point { x: 586348.14761692681 y: 4140712.0366032 theta: 1.3103695059928353 - kappa: 0.00014942556273886653 + kappa: 0.00014942556273918881 s: 12.333863963463344 dkappa: 0 ddkappa: 0 @@ -708,7 +708,7 @@ trajectory_point { x: 586348.20376442559 y: 4140712.2472533379 theta: 1.3103899412536375 - kappa: -2.8012272713402142e-05 + kappa: -2.8012272713086863e-05 s: 12.551868602255714 dkappa: 0 ddkappa: 0 @@ -722,7 +722,7 @@ trajectory_point { x: 586348.25974455907 y: 4140712.4573107008 theta: 1.3103300195974776 - kappa: -0.00016583642048083016 + kappa: -0.00016583642048053222 s: 12.769257357233048 dkappa: 0 ddkappa: 0 @@ -736,7 +736,7 @@ trajectory_point { x: 586348.31557870179 y: 4140712.6668202532 theta: 1.3102702542109645 - kappa: -0.0003033011362094051 + kappa: -0.00030330113620912445 s: 12.986079183376132 dkappa: 0 ddkappa: 0 @@ -750,7 +750,7 @@ trajectory_point { x: 586348.37127863453 y: 4140712.8758262033 theta: 1.3102106324841951 - kappa: -0.00044043542457220626 + kappa: -0.00044043542457194285 s: 13.202379829487853 dkappa: 0 ddkappa: 0 @@ -763,8 +763,8 @@ trajectory_point { path_point { x: 586348.42689271341 y: 4140713.084359813 - theta: 1.3101221008213588 - kappa: -0.00053163633674668874 + theta: 1.310122100821359 + kappa: -0.00053163633674644479 s: 13.418201965911637 dkappa: 0 ddkappa: 0 @@ -777,8 +777,8 @@ trajectory_point { path_point { x: 586348.482449816 y: 4140713.292454489 - theta: 1.3099901544756576 - kappa: -0.000554156670646292 + theta: 1.309990154475658 + kappa: -0.00055415667064607067 s: 13.633585312249902 dkappa: 0 ddkappa: 0 @@ -791,8 +791,8 @@ trajectory_point { path_point { x: 586348.53790325194 y: 4140713.5001608725 - theta: 1.3098584543315515 - kappa: -0.00057663498283858441 + theta: 1.3098584543315519 + kappa: -0.00057663498283838579 s: 13.848566765082513 dkappa: 0 ddkappa: 0 @@ -805,8 +805,8 @@ trajectory_point { path_point { x: 586348.59326184355 y: 4140713.7075120062 - theta: 1.3097269794415134 - kappa: -0.00059907484938533063 + theta: 1.3097269794415141 + kappa: -0.00059907484938515445 s: 14.063180525685212 dkappa: 0 ddkappa: 0 @@ -819,8 +819,8 @@ trajectory_point { path_point { x: 586348.64856021642 y: 4140713.9145313809 - 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