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体验新版 GitCode,发现更多精彩内容 >>
提交
060fd573
编写于
9月 12, 2017
作者:
Z
Zhang Liangliang
提交者:
Dong Li
9月 12, 2017
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差异文件
Planning: (1) changed the way to add init point constraint; (2) muted
unnecessary error msg in reference line provider.
上级
dfad11dd
变更
7
展开全部
隐藏空白更改
内联
并排
Showing
7 changed file
with
4514 addition
and
4486 deletion
+4514
-4486
modules/planning/reference_line/reference_line_provider.cc
modules/planning/reference_line/reference_line_provider.cc
+14
-0
modules/planning/reference_line/reference_line_provider.h
modules/planning/reference_line/reference_line_provider.h
+1
-0
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
...s/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
+16
-3
modules/planning/testdata/garage_test/result_follow_0.pb.txt
modules/planning/testdata/garage_test/result_follow_0.pb.txt
+1122
-1122
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
...s/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+1121
-1121
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
...nning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+1123
-1123
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
...anning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+1117
-1117
未找到文件。
modules/planning/reference_line/reference_line_provider.cc
浏览文件 @
060fd573
...
...
@@ -72,6 +72,7 @@ void ReferenceLineProvider::UpdateRoutingResponse(
std
::
lock_guard
<
std
::
mutex
>
lock
(
routing_response_mutex_
);
// TODO(all): check if routing needs to be updated before assigning.
routing_response_
=
routing_response
;
has_routing_
=
true
;
}
void
ReferenceLineProvider
::
Generate
()
{
...
...
@@ -80,6 +81,19 @@ void ReferenceLineProvider::Generate() {
common
::
VehicleState
::
instance
()
->
pose
().
position
();
const
auto
adc_point_enu
=
common
::
util
::
MakePointENU
(
curr_adc_position
.
x
(),
curr_adc_position
.
y
(),
curr_adc_position
.
z
());
const
int32_t
kReferenceLineProviderSleepTime
=
1000
;
if
(
!
has_routing_
)
{
AERROR
<<
"Routing is not ready."
;
std
::
this_thread
::
sleep_for
(
std
::
chrono
::
duration
<
double
,
std
::
milli
>
(
kReferenceLineProviderSleepTime
));
continue
;
}
if
(
!
curr_adc_position
.
has_x
()
||
!
curr_adc_position
.
has_y
())
{
AERROR
<<
"VehicleState is not ready."
;
std
::
this_thread
::
sleep_for
(
std
::
chrono
::
duration
<
double
,
std
::
milli
>
(
kReferenceLineProviderSleepTime
));
}
routing
::
RoutingResponse
routing
;
{
...
...
modules/planning/reference_line/reference_line_provider.h
浏览文件 @
060fd573
...
...
@@ -77,6 +77,7 @@ class ReferenceLineProvider {
const
hdmap
::
PncMap
*
pnc_map_
=
nullptr
;
bool
has_routing_
=
false
;
std
::
mutex
routing_response_mutex_
;
routing
::
RoutingResponse
routing_response_
;
...
...
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
浏览文件 @
060fd573
...
...
@@ -246,9 +246,22 @@ Status QpSplineStGraph::ApplyConstraint(
}
else
{
constexpr
double
kInitPointAccelRelaxedSpeed
=
1.0
;
constexpr
double
kInitPointAccelRelaxedRange
=
0.5
;
if
(
init_point_
.
v
()
>
kInitPointAccelRelaxedSpeed
)
{
accel_lower_bound
.
front
()
=
init_point_
.
a
()
-
kInitPointAccelRelaxedRange
;
accel_upper_bound
.
front
()
=
init_point_
.
a
()
+
kInitPointAccelRelaxedRange
;
if
(
init_point_
.
v
()
>
kInitPointAccelRelaxedSpeed
&&
(
init_point_
.
a
()
>
accel_bound
.
second
-
kInitPointAccelRelaxedRange
||
init_point_
.
a
()
<
accel_bound
.
first
+
kInitPointAccelRelaxedRange
))
{
accel_lower_bound
.
front
()
=
std
::
max
(
accel_lower_bound
.
front
(),
init_point_
.
a
()
-
kInitPointAccelRelaxedRange
);
accel_upper_bound
.
front
()
=
std
::
min
(
accel_upper_bound
.
front
(),
init_point_
.
a
()
+
kInitPointAccelRelaxedRange
);
}
else
{
if
(
!
constraint
->
AddPointSecondDerivativeConstraint
(
0.0
,
init_point_
.
a
()))
{
const
std
::
string
msg
=
"Fail to apply init point acceleration constraints."
;
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
}
}
}
...
...
modules/planning/testdata/garage_test/result_follow_0.pb.txt
浏览文件 @
060fd573
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
浏览文件 @
060fd573
此差异已折叠。
点击以展开。
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
浏览文件 @
060fd573
此差异已折叠。
点击以展开。
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
浏览文件 @
060fd573
此差异已折叠。
点击以展开。
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