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0493e595
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体验新版 GitCode,发现更多精彩内容 >>
提交
0493e595
编写于
7月 20, 2017
作者:
A
Aaron Xiao
提交者:
Jiangtao Hu
7月 20, 2017
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Switch from glog to apollo common log.
上级
7f0c37b8
变更
26
隐藏空白更改
内联
并排
Showing
26 changed file
with
62 addition
and
67 deletion
+62
-67
modules/planning/common/frame.cc
modules/planning/common/frame.cc
+1
-1
modules/planning/common/logic_node.cc
modules/planning/common/logic_node.cc
+1
-1
modules/planning/common/path/discretized_path.cc
modules/planning/common/path/discretized_path.cc
+3
-3
modules/planning/common/path/frenet_frame_path.cc
modules/planning/common/path/frenet_frame_path.cc
+3
-3
modules/planning/common/path/path_data.cc
modules/planning/common/path/path_data.cc
+3
-3
modules/planning/common/trajectory/discretized_trajectory.cc
modules/planning/common/trajectory/discretized_trajectory.cc
+2
-2
modules/planning/math/BUILD
modules/planning/math/BUILD
+18
-20
modules/planning/math/curve1d/BUILD
modules/planning/math/curve1d/BUILD
+4
-6
modules/planning/math/curve1d/quartic_polynomial_curve1d.cc
modules/planning/math/curve1d/quartic_polynomial_curve1d.cc
+3
-2
modules/planning/math/curve1d/quintic_polynomial_curve1d.cc
modules/planning/math/curve1d/quintic_polynomial_curve1d.cc
+2
-2
modules/planning/math/double.cc
modules/planning/math/double.cc
+1
-1
modules/planning/math/frame_conversion/BUILD
modules/planning/math/frame_conversion/BUILD
+1
-1
modules/planning/math/frame_conversion/cartesian_frenet_conversion.cc
...ning/math/frame_conversion/cartesian_frenet_conversion.cc
+1
-1
modules/planning/math/hermite_spline.h
modules/planning/math/hermite_spline.h
+4
-4
modules/planning/math/integration.cc
modules/planning/math/integration.cc
+1
-1
modules/planning/math/interpolation.h
modules/planning/math/interpolation.h
+4
-4
modules/planning/math/smoothing_spline/BUILD
modules/planning/math/smoothing_spline/BUILD
+0
-2
modules/planning/math/smoothing_spline/affine_constraint.cc
modules/planning/math/smoothing_spline/affine_constraint.cc
+3
-2
modules/planning/math/smoothing_spline/spline_1d_generator.h
modules/planning/math/smoothing_spline/spline_1d_generator.h
+0
-1
modules/planning/math/smoothing_spline/spline_2d.cc
modules/planning/math/smoothing_spline/spline_2d.cc
+1
-2
modules/planning/math/smoothing_spline/spline_2d.h
modules/planning/math/smoothing_spline/spline_2d.h
+0
-1
modules/planning/math/spiral_curve/BUILD
modules/planning/math/spiral_curve/BUILD
+2
-2
modules/planning/math/spiral_curve/cubic_spiral_curve.cc
modules/planning/math/spiral_curve/cubic_spiral_curve.cc
+1
-1
modules/planning/math/spiral_curve/cubic_spiral_curve.h
modules/planning/math/spiral_curve/cubic_spiral_curve.h
+1
-0
modules/planning/math/spiral_curve/quintic_spiral_curve.cc
modules/planning/math/spiral_curve/quintic_spiral_curve.cc
+1
-1
modules/planning/math/spiral_curve/quintic_spiral_curve.h
modules/planning/math/spiral_curve/quintic_spiral_curve.h
+1
-0
未找到文件。
modules/planning/common/frame.cc
浏览文件 @
0493e595
...
...
@@ -20,7 +20,7 @@
#include "modules/planning/common/frame.h"
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
namespace
apollo
{
namespace
planning
{
...
...
modules/planning/common/logic_node.cc
浏览文件 @
0493e595
...
...
@@ -20,7 +20,7 @@
#include "modules/planning/common/logic_node.h"
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
namespace
apollo
{
namespace
planning
{
...
...
modules/planning/common/path/discretized_path.cc
浏览文件 @
0493e595
...
...
@@ -21,8 +21,8 @@
#include "modules/planning/common/path/discretized_path.h"
#include <utility>
#include "glog/logging.h"
#include "modules/common/log.h"
#include "modules/planning/common/path/path_point_util.h"
namespace
apollo
{
...
...
@@ -88,7 +88,7 @@ std::size_t DiscretizedPath::num_of_points() const {
const
common
::
PathPoint
&
DiscretizedPath
::
path_point_at
(
const
std
::
size_t
index
)
const
{
CHECK
(
index
<
path_points_
.
size
());
CHECK
_LT
(
index
,
path_points_
.
size
());
return
path_points_
[
index
];
}
...
...
@@ -103,7 +103,7 @@ common::PathPoint DiscretizedPath::end_point() const {
}
common
::
PathPoint
&
DiscretizedPath
::
path_point_at
(
const
std
::
size_t
index
)
{
CHECK
(
index
<
path_points_
.
size
());
CHECK
_LT
(
index
,
path_points_
.
size
());
return
path_points_
[
index
];
}
...
...
modules/planning/common/path/frenet_frame_path.cc
浏览文件 @
0493e595
...
...
@@ -20,8 +20,8 @@
#include "modules/planning/common/path/frenet_frame_path.h"
#include <utility>
#include "glog/logging.h"
#include "modules/common/log.h"
#include "modules/common/proto/path_point.pb.h"
namespace
apollo
{
...
...
@@ -49,12 +49,12 @@ std::size_t FrenetFramePath::num_points() const { return points_.size(); }
const
common
::
FrenetFramePoint
&
FrenetFramePath
::
point_at
(
const
std
::
size_t
index
)
const
{
CHECK
(
index
<
points_
.
size
());
CHECK
_LT
(
index
,
points_
.
size
());
return
points_
[
index
];
}
common
::
FrenetFramePoint
&
FrenetFramePath
::
point_at
(
const
std
::
size_t
index
)
{
CHECK
(
index
<
points_
.
size
());
CHECK
_LT
(
index
,
points_
.
size
());
return
points_
[
index
];
}
...
...
modules/planning/common/path/path_data.cc
浏览文件 @
0493e595
...
...
@@ -21,8 +21,8 @@
#include "modules/planning/common/path/path_data.h"
#include <sstream>
#include "glog/logging.h"
#include "modules/common/log.h"
#include "modules/planning/math/double.h"
namespace
apollo
{
...
...
@@ -64,7 +64,7 @@ bool PathData::get_path_point_with_path_s(
}
else
{
double
s0
=
(
it_lower
-
1
)
->
s
();
double
s1
=
it_lower
->
s
();
CHECK
(
s0
<
s1
);
CHECK
_LT
(
s0
,
s1
);
*
path_point
=
util
::
interpolate_linear_approximation
(
*
(
it_lower
-
1
),
*
it_lower
,
s
);
}
...
...
@@ -93,7 +93,7 @@ bool PathData::get_path_point_with_ref_s(
// double ref_s0 = (it_lower - 1)->s();
// double ref_s1 = it_lower->s();
//
// CHECK
(ref_s0 <
ref_s1);
// CHECK
_LT(ref_s0,
ref_s1);
// double weight = (ref_s - ref_s0) / (ref_s1 - ref_s0);
// *path_point =
// common::PathPoint::interpolate_linear_approximation(path_.path_point_at(index_lower
...
...
modules/planning/common/trajectory/discretized_trajectory.cc
浏览文件 @
0493e595
...
...
@@ -22,7 +22,7 @@
#include <climits>
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
#include "modules/planning/common/path/path_point_util.h"
namespace
apollo
{
...
...
@@ -120,7 +120,7 @@ void DiscretizedTrajectory::add_trajectory_point(
const
TrajectoryPoint
&
DiscretizedTrajectory
::
trajectory_point_at
(
const
std
::
size_t
index
)
const
{
CHECK
(
index
<
num_of_points
());
CHECK
_LT
(
index
,
num_of_points
());
return
_trajectory_points
[
index
];
}
...
...
modules/planning/math/BUILD
浏览文件 @
0493e595
...
...
@@ -7,11 +7,11 @@ cc_library(
srcs
=
[
"double.cc"
,
],
hdrs
=
glob
(
[
hdrs
=
[
"double.h"
,
]
)
,
],
deps
=
[
"
@glog//:g
log"
,
"
//modules/common:
log"
,
],
)
...
...
@@ -20,10 +20,8 @@ cc_library(
srcs
=
[
"curve_math.cc"
,
],
hdrs
=
glob
(
[
hdrs
=
[
"curve_math.h"
,
]),
deps
=
[
],
)
...
...
@@ -32,11 +30,11 @@ cc_library(
srcs
=
[
"integration.cc"
,
],
hdrs
=
glob
(
[
hdrs
=
[
"integration.h"
,
]
)
,
],
deps
=
[
"
@glog//:g
log"
,
"
//modules/common:
log"
,
],
)
...
...
@@ -45,11 +43,11 @@ cc_library(
srcs
=
[
"polynomial_xd.cc"
,
],
hdrs
=
glob
(
[
hdrs
=
[
"polynomial_xd.h"
,
]
)
,
],
deps
=
[
"
@glog//:g
log"
,
"
//modules/common:
log"
,
],
)
...
...
@@ -58,9 +56,9 @@ cc_library(
srcs
=
[
"sl_analytic_transformation.cc"
,
],
hdrs
=
glob
(
[
hdrs
=
[
"sl_analytic_transformation.h"
,
]
)
,
],
deps
=
[
":double"
,
"@eigen//:eigen"
,
...
...
@@ -69,23 +67,23 @@ cc_library(
cc_library
(
name
=
"interpolation"
,
hdrs
=
glob
(
[
hdrs
=
[
"interpolation.h"
,
]
)
,
],
deps
=
[
":hermite_spline"
,
"//modules/common:log"
,
"//modules/common/math:math_utils"
,
"@glog//:glog"
,
],
)
cc_library
(
name
=
"hermite_spline"
,
hdrs
=
glob
(
[
hdrs
=
[
"hermite_spline.h"
,
]
)
,
],
deps
=
[
"
@glog//:g
log"
,
"
//modules/common:
log"
,
],
)
...
...
modules/planning/math/curve1d/BUILD
浏览文件 @
0493e595
...
...
@@ -7,8 +7,6 @@ cc_library(
hdrs
=
[
"curve1d.h"
,
],
deps
=
[
],
)
cc_library
(
...
...
@@ -30,8 +28,8 @@ cc_library(
"quartic_polynomial_curve1d.h"
,
],
deps
=
[
"polynomial_curve1d"
,
"
@glog//:g
log"
,
"
:
polynomial_curve1d"
,
"
//modules/common:
log"
,
],
)
...
...
@@ -44,8 +42,8 @@ cc_library(
"quintic_polynomial_curve1d.h"
,
],
deps
=
[
"polynomial_curve1d"
,
"
@glog//:g
log"
,
"
:
polynomial_curve1d"
,
"
//modules/common:
log"
,
],
)
...
...
modules/planning/math/curve1d/quartic_polynomial_curve1d.cc
浏览文件 @
0493e595
...
...
@@ -21,7 +21,8 @@
#include "modules/planning/math/curve1d/quartic_polynomial_curve1d.h"
#include <string>
#include "glog/logging.h"
#include "modules/common/log.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -79,7 +80,7 @@ double QuarticPolynomialCurve1d::param_length() const { return param_; }
void
QuarticPolynomialCurve1d
::
compute_coefficients
(
const
double
x0
,
const
double
dx0
,
const
double
ddx0
,
const
double
dx1
,
const
double
ddx1
,
const
double
p
)
{
CHECK
(
p
>
0.0
);
CHECK
_GT
(
p
,
0.0
);
param_
=
p
;
...
...
modules/planning/math/curve1d/quintic_polynomial_curve1d.cc
浏览文件 @
0493e595
...
...
@@ -20,7 +20,7 @@
#include "modules/planning/math/curve1d/quintic_polynomial_curve1d.h"
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -88,7 +88,7 @@ double QuinticPolynomialCurve1d::evaluate(const size_t order,
void
QuinticPolynomialCurve1d
::
compute_coefficients
(
const
double
x0
,
const
double
dx0
,
const
double
ddx0
,
const
double
x1
,
const
double
dx1
,
const
double
ddx1
,
const
double
p
)
{
CHECK
(
p
>
0.0
);
CHECK
_GT
(
p
,
0.0
);
coef_
[
5
]
=
x0
;
coef_
[
4
]
=
dx0
;
...
...
modules/planning/math/double.cc
浏览文件 @
0493e595
...
...
@@ -18,7 +18,7 @@
#include <cmath>
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
namespace
apollo
{
namespace
planning
{
...
...
modules/planning/math/frame_conversion/BUILD
浏览文件 @
0493e595
...
...
@@ -11,9 +11,9 @@ cc_library(
"cartesian_frenet_conversion.h"
,
],
deps
=
[
"//modules/common:log"
,
"//modules/common/math:vec2d"
,
"//modules/common/math:math_utils"
,
"@glog//:glog"
,
],
)
...
...
modules/planning/math/frame_conversion/cartesian_frenet_conversion.cc
浏览文件 @
0493e595
...
...
@@ -21,8 +21,8 @@
#include "modules/planning/math/frame_conversion/cartesian_frenet_conversion.h"
#include <cmath>
#include "glog/logging.h"
#include "modules/common/log.h"
#include "modules/common/math/math_utils.h"
namespace
apollo
{
...
...
modules/planning/math/hermite_spline.h
浏览文件 @
0493e595
...
...
@@ -23,7 +23,7 @@
#include <utility>
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -54,8 +54,8 @@ inline HermiteSpline<T, N>::HermiteSpline(std::array<T, (N + 1) / 2> x0,
std
::
array
<
T
,
(
N
+
1
)
/
2
>
x1
,
const
double
z0
,
const
double
z1
)
:
_x0
(
std
::
move
(
x0
)),
_x1
(
std
::
move
(
x1
)),
_z0
(
z0
),
delta_z_
(
z1
-
z0
)
{
CHECK
(
(
N
==
3
||
N
==
5
)
&&
"Error: currently we only support cubic and quintic hermite splines!"
)
;
CHECK
(
N
==
3
||
N
==
5
)
<<
"Error: currently we only support cubic and quintic hermite splines!"
;
}
template
<
typename
T
,
std
::
size_t
N
>
...
...
@@ -174,7 +174,7 @@ inline T HermiteSpline<T, N>::evaluate(const std::size_t order,
default:
{
break
;
}
}
}
CHECK
(
false
&&
"Error: unsupported order of spline or derivative!"
)
;
AFATAL
<<
"Error: unsupported order of spline or derivative!"
;
T
t
;
return
t
;
}
...
...
modules/planning/math/integration.cc
浏览文件 @
0493e595
...
...
@@ -22,7 +22,7 @@
#include <array>
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
namespace
apollo
{
namespace
planning
{
...
...
modules/planning/math/interpolation.h
浏览文件 @
0493e595
...
...
@@ -24,7 +24,7 @@
#include <array>
#include <cmath>
#include "
glog/loggin
g.h"
#include "
modules/common/lo
g.h"
#include "modules/common/math/math_utils.h"
#include "modules/planning/math/hermite_spline.h"
...
...
@@ -80,9 +80,9 @@ inline std::array<T, N> Interpolation::hermite(const std::array<T, N>& x0,
const
std
::
array
<
T
,
N
>&
x1
,
const
double
p1
,
const
double
p
)
{
CHECK
(
(
N
==
2
||
N
==
3
)
&&
"Error: currently hermite interpolation
"
"only supports cubic and quintic!"
)
;
CHECK
(
N
==
2
||
N
==
3
)
<<
"Error: currently hermite interpolation only supports cubic and
"
"quintic!"
;
HermiteSpline
<
T
,
2
*
N
-
1
>
hermite_spline
(
x0
,
x1
,
p0
,
p1
);
std
::
array
<
T
,
N
>
x
;
...
...
modules/planning/math/smoothing_spline/BUILD
浏览文件 @
0493e595
...
...
@@ -107,7 +107,6 @@ cc_library(
"//modules/common/math/qp_solver"
,
"//modules/common/math/qp_solver:active_set_qp_solver"
,
"@eigen//:eigen"
,
"@glog//:glog"
,
],
)
...
...
@@ -137,7 +136,6 @@ cc_library(
":spline_2d_seg"
,
"//modules/planning/math:polynomial_xd"
,
"@eigen//:eigen"
,
"@glog//:glog"
,
],
)
...
...
modules/planning/math/smoothing_spline/affine_constraint.cc
浏览文件 @
0493e595
...
...
@@ -19,7 +19,8 @@
**/
#include "modules/planning/math/smoothing_spline/affine_constraint.h"
#include "glog/logging.h"
#include "modules/common/log.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -33,7 +34,7 @@ AffineConstraint::AffineConstraint(const Eigen::MatrixXd& constraint_matrix,
:
constraint_matrix_
(
constraint_matrix
),
constraint_boundary_
(
constraint_boundary
),
is_equality_
(
is_equality
)
{
CHECK
(
constraint_boundary
.
rows
()
==
constraint_matrix
.
rows
());
CHECK
_EQ
(
constraint_boundary
.
rows
(),
constraint_matrix
.
rows
());
}
void
AffineConstraint
::
set_is_equality
(
const
double
is_equality
)
{
...
...
modules/planning/math/smoothing_spline/spline_1d_generator.h
浏览文件 @
0493e595
...
...
@@ -52,7 +52,6 @@
#include <vector>
#include "Eigen/Core"
#include "glog/logging.h"
#include "modules/common/math/qp_solver/qp_solver.h"
#include "modules/planning/math/smoothing_spline/spline_1d.h"
...
...
modules/planning/math/smoothing_spline/spline_2d.cc
浏览文件 @
0493e595
...
...
@@ -148,8 +148,7 @@ std::size_t Spline2d::spline_order() const { return spline_order_; }
std
::
size_t
Spline2d
::
find_index
(
const
double
t
)
const
{
auto
upper_bound
=
std
::
upper_bound
(
t_knots_
.
begin
()
+
1
,
t_knots_
.
end
(),
t
);
return
std
::
min
(
t_knots_
.
size
()
-
1
,
static_cast
<
std
::
size_t
>
(
upper_bound
-
t_knots_
.
begin
()))
-
1
;
static_cast
<
std
::
size_t
>
(
upper_bound
-
t_knots_
.
begin
()))
-
1
;
}
}
// namespace planning
...
...
modules/planning/math/smoothing_spline/spline_2d.h
浏览文件 @
0493e595
...
...
@@ -26,7 +26,6 @@
#include <vector>
#include "Eigen/Core"
#include "glog/logging.h"
#include "modules/planning/math/polynomial_xd.h"
#include "modules/planning/math/smoothing_spline/spline_2d_seg.h"
...
...
modules/planning/math/spiral_curve/BUILD
浏览文件 @
0493e595
...
...
@@ -40,11 +40,11 @@ cc_library(
deps
=
[
":spiral_curve"
,
":spiral_formula"
,
"//modules/common:log"
,
"//modules/common/proto:error_code_proto"
,
"//modules/common/proto:path_point_proto"
,
"//modules/planning/math:integration"
,
"@eigen//:eigen"
,
"@glog//:glog"
,
],
)
...
...
@@ -59,10 +59,10 @@ cc_library(
deps
=
[
":spiral_curve"
,
":spiral_formula"
,
"//modules/common:log"
,
"//modules/common/proto:path_point_proto"
,
"//modules/planning/math:integration"
,
"@eigen//:eigen"
,
"@glog//:glog"
,
],
)
...
...
modules/planning/math/spiral_curve/cubic_spiral_curve.cc
浏览文件 @
0493e595
...
...
@@ -22,8 +22,8 @@
#include <algorithm>
#include "Eigen/Core"
#include "Eigen/LU"
#include "glog/logging.h"
#include "modules/common/log.h"
#include "modules/planning/math/integration.h"
#include "modules/planning/math/spiral_curve/spiral_formula.h"
...
...
modules/planning/math/spiral_curve/cubic_spiral_curve.h
浏览文件 @
0493e595
...
...
@@ -33,6 +33,7 @@
#define MODULES_PLANNING_MATH_SPIRAL_CURVE_CUBIC_SPIRAL_CURVE_H_
#include <vector>
#include "modules/common/proto/error_code.pb.h"
#include "modules/common/proto/path_point.pb.h"
#include "modules/planning/math/spiral_curve/spiral_curve.h"
...
...
modules/planning/math/spiral_curve/quintic_spiral_curve.cc
浏览文件 @
0493e595
...
...
@@ -22,8 +22,8 @@
#include <algorithm>
#include "Eigen/Core"
#include "Eigen/LU"
#include "glog/logging.h"
#include "modules/common/log.h"
#include "modules/planning/math/integration.h"
#include "modules/planning/math/spiral_curve/spiral_formula.h"
...
...
modules/planning/math/spiral_curve/quintic_spiral_curve.h
浏览文件 @
0493e595
...
...
@@ -35,6 +35,7 @@
#define MODULES_PLANNING_MATH_SPIRAL_CURVE_QUINTIC_SPIRAL_CURVE_H_
#include <vector>
#include "modules/common/proto/error_code.pb.h"
#include "modules/common/proto/path_point.pb.h"
#include "modules/planning/math/spiral_curve/spiral_curve.h"
...
...
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