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10946e95
编写于
7月 25, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
7月 25, 2017
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电子邮件补丁
差异文件
added constraint checker for planning.
上级
a086bb18
变更
5
显示空白变更内容
内联
并排
Showing
5 changed file
with
176 addition
and
2 deletion
+176
-2
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+3
-2
modules/planning/common/planning_gflags.h
modules/planning/common/planning_gflags.h
+2
-0
modules/planning/trajectory_stitcher/BUILD
modules/planning/trajectory_stitcher/BUILD
+18
-0
modules/planning/trajectory_stitcher/constraint_checker.cc
modules/planning/trajectory_stitcher/constraint_checker.cc
+115
-0
modules/planning/trajectory_stitcher/constraint_checker.h
modules/planning/trajectory_stitcher/constraint_checker.h
+38
-0
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
10946e95
...
...
@@ -20,8 +20,7 @@ DEFINE_int32(planning_loop_rate, 5, "Loop rate for planning node");
DEFINE_string
(
rtk_trajectory_filename
,
"modules/planning/data/garage.csv"
,
"Loop rate for planning node"
);
DEFINE_string
(
map_filename
,
"modules/map/data/base_map.txt"
,
"map data file"
);
DEFINE_string
(
map_filename
,
"modules/map/data/base_map.txt"
,
"map data file"
);
DEFINE_uint64
(
rtk_trajectory_backward
,
10
,
"The number of points to be included in RTK trajectory "
...
...
@@ -91,6 +90,8 @@ DEFINE_double(longitudinal_jerk_lower_bound, -4.0,
DEFINE_double
(
longitudinal_jerk_upper_bound
,
4.0
,
"The upper bound of longitudinal jerk."
);
DEFINE_double
(
kappa_bound
,
0.23
,
"The bound for vehicle curvature"
);
DEFINE_double
(
stgraph_default_point_cost
,
1e10
,
"The default stgraph point cost."
);
DEFINE_double
(
stgraph_max_acceleration_divide_factor_level_1
,
2.0
,
...
...
modules/planning/common/planning_gflags.h
浏览文件 @
10946e95
...
...
@@ -70,6 +70,8 @@ DECLARE_double(lateral_jerk_bound);
DECLARE_double
(
longitudinal_jerk_lower_bound
);
DECLARE_double
(
longitudinal_jerk_upper_bound
);
DECLARE_double
(
kappa_bound
);
// STGraph
DECLARE_double
(
stgraph_default_point_cost
);
DECLARE_double
(
stgraph_max_acceleration_divide_factor_level_1
);
...
...
modules/planning/trajectory_stitcher/BUILD
浏览文件 @
10946e95
...
...
@@ -19,4 +19,22 @@ cc_library(
],
)
cc_library
(
name
=
"constraint_checker"
,
srcs
=
[
"constraint_checker.cc"
,
],
hdrs
=
[
"constraint_checker.h"
,
],
deps
=
[
"//modules/common:log"
,
"//modules/common/proto:path_point_proto"
,
"//modules/common/vehicle_state"
,
"//modules/planning/common:planning_gflags"
,
"//modules/planning/common/trajectory"
,
"//modules/planning/common/trajectory:discretized_trajectory"
,
],
)
cpplint
()
modules/planning/trajectory_stitcher/constraint_checker.cc
0 → 100644
浏览文件 @
10946e95
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file constraint_checker.cc
**/
#include "modules/planning/trajectory_stitcher/constraint_checker.h"
#include "modules/common/log.h"
#include "modules/planning/common/planning_gflags.h"
namespace
apollo
{
namespace
planning
{
namespace
{
template
<
typename
T
>
bool
within_range
(
const
T
v
,
const
T
lower
,
const
T
upper
)
{
if
(
v
<
lower
||
v
>
upper
)
{
return
false
;
}
return
true
;
}
}
bool
ConstraintChecker
::
valid_trajectory
(
const
DiscretizedTrajectory
&
trajectory
)
{
for
(
const
auto
&
p
:
trajectory
.
trajectory_points
())
{
double
t
=
p
.
relative_time
();
double
lon_v
=
p
.
v
();
if
(
!
within_range
(
lon_v
,
FLAGS_speed_lower_bound
,
FLAGS_speed_upper_bound
))
{
AWARN
<<
"Velocity at relative time "
<<
t
<<
" exceeds bound, value: "
<<
lon_v
<<
", bound ["
<<
FLAGS_speed_lower_bound
<<
", "
<<
FLAGS_speed_upper_bound
<<
"]."
;
return
false
;
}
double
lon_a
=
p
.
a
();
if
(
!
within_range
(
lon_a
,
FLAGS_longitudinal_acceleration_lower_bound
,
FLAGS_longitudinal_acceleration_upper_bound
))
{
AWARN
<<
"Longitudinal acceleration at relative time "
<<
t
<<
" exceeds bound, value: "
<<
lon_a
<<
", bound ["
<<
FLAGS_longitudinal_acceleration_lower_bound
<<
", "
<<
FLAGS_longitudinal_acceleration_upper_bound
<<
"]."
;
return
false
;
}
double
lat_a
=
lon_v
*
lon_v
*
p
.
path_point
().
kappa
();
if
(
!
within_range
(
lat_a
,
-
FLAGS_lateral_acceleration_bound
,
FLAGS_lateral_acceleration_bound
))
{
AWARN
<<
"Lateral acceleration at relative time "
<<
t
<<
" exceeds bound, value: "
<<
lat_a
<<
", bound ["
<<
-
FLAGS_lateral_acceleration_bound
<<
", "
<<
FLAGS_lateral_acceleration_bound
<<
"]."
;
return
false
;
}
double
kappa
=
p
.
path_point
().
kappa
();
if
(
!
within_range
(
kappa
,
-
FLAGS_kappa_bound
,
FLAGS_kappa_bound
))
{
AWARN
<<
"Kappa at relative time "
<<
t
<<
" exceeds bound, value: "
<<
kappa
<<
", bound ["
<<
-
FLAGS_kappa_bound
<<
", "
<<
FLAGS_kappa_bound
<<
"]."
;
return
false
;
}
}
for
(
std
::
size_t
i
=
1
;
i
<
trajectory
.
num_of_points
();
++
i
)
{
const
auto
&
p0
=
trajectory
.
trajectory_point_at
(
i
-
1
);
const
auto
&
p1
=
trajectory
.
trajectory_point_at
(
i
);
double
t
=
p0
.
relative_time
();
double
dt
=
p1
.
relative_time
()
-
p0
.
relative_time
();
double
d_lon_a
=
p1
.
a
()
-
p0
.
a
();
double
lon_jerk
=
d_lon_a
/
dt
;
if
(
!
within_range
(
d_lon_a
/
dt
,
FLAGS_longitudinal_jerk_lower_bound
,
FLAGS_longitudinal_jerk_upper_bound
))
{
AWARN
<<
"Longitudinal jerk at relative time "
<<
t
<<
" exceeds bound, value: "
<<
lon_jerk
<<
", bound ["
<<
FLAGS_longitudinal_jerk_lower_bound
<<
", "
<<
FLAGS_longitudinal_jerk_upper_bound
<<
"]."
;
return
false
;
}
double
d_lat_a
=
p1
.
v
()
*
p1
.
v
()
*
p1
.
path_point
().
kappa
()
-
p0
.
v
()
*
p0
.
v
()
*
p0
.
path_point
().
kappa
();
double
lat_jerk
=
d_lat_a
/
dt
;
if
(
!
within_range
(
lat_jerk
,
-
FLAGS_lateral_jerk_bound
,
FLAGS_lateral_jerk_bound
))
{
AWARN
<<
"Lateral jerk at relative time "
<<
t
<<
" exceeds bound, value: "
<<
lat_jerk
<<
", bound ["
<<
-
FLAGS_lateral_jerk_bound
<<
", "
<<
FLAGS_lateral_jerk_bound
<<
"]."
;
return
false
;
}
}
return
true
;
}
}
// namespace planning
}
// namespace apollo
modules/planning/trajectory_stitcher/constraint_checker.h
0 → 100644
浏览文件 @
10946e95
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file constraint_checker.h
**/
#ifndef MODULES_PLANNING_CONSTRAINT_CHECKER_H_
#define MODULES_PLANNING_CONSTRAINT_CHECKER_H_
#include "modules/planning/common/trajectory/discretized_trajectory.h"
namespace
apollo
{
namespace
planning
{
class
ConstraintChecker
{
public:
ConstraintChecker
()
=
delete
;
static
bool
valid_trajectory
(
const
DiscretizedTrajectory
&
trajectory
);
};
}
// namespace planning
}
// namespace apollo
#endif // MODULES_PLANNING_CONSTRAINT_CHECKER_H_
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