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体验新版 GitCode,发现更多精彩内容 >>
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14d10a61
编写于
8月 28, 2017
作者:
D
Dong Li
提交者:
lianglia-apollo
9月 01, 2017
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差异文件
planning: simplify igore backside vehicle logic with st_boundary
上级
a53aa03f
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
11 addition
and
20 deletion
+11
-20
modules/planning/reference_line/reference_line.h
modules/planning/reference_line/reference_line.h
+3
-5
modules/planning/tasks/traffic_decider/back_side_vehicles.cc
modules/planning/tasks/traffic_decider/back_side_vehicles.cc
+8
-15
未找到文件。
modules/planning/reference_line/reference_line.h
浏览文件 @
14d10a61
...
...
@@ -97,11 +97,9 @@ class ReferenceLine {
const
ReferencePoint
&
p1
,
const
double
s1
,
const
double
s
);
static
double
FindMinDistancePoint
(
const
ReferencePoint
&
p0
,
const
double
s0
,
const
ReferencePoint
&
p1
,
const
double
s1
,
const
double
x
,
const
double
y
);
static
double
FindMinDistancePoint
(
const
ReferencePoint
&
p0
,
const
double
s0
,
const
ReferencePoint
&
p1
,
const
double
s1
,
const
double
x
,
const
double
y
);
private:
std
::
vector
<
ReferencePoint
>
reference_points_
;
...
...
modules/planning/tasks/traffic_decider/back_side_vehicles.cc
浏览文件 @
14d10a61
...
...
@@ -18,8 +18,8 @@
* @file
**/
#include "modules/planning/tasks/traffic_decider/back_side_vehicles.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/tasks/traffic_decider/back_side_vehicles.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -28,31 +28,24 @@ BackSideVehicles::BackSideVehicles() : TrafficRule("BackSideVehicles") {}
bool
BackSideVehicles
::
ApplyRule
(
ReferenceLineInfo
*
const
reference_line_info
)
{
auto
*
path_decision
=
reference_line_info
->
path_decision
();
const
auto
&
reference_line
=
reference_line_info
->
reference_line
();
const
auto
&
adc_sl_boundary
=
reference_line_info
->
AdcSlBoundary
();
ObjectDecisionType
ignore
;
ignore
.
mutable_ignore
();
for
(
const
auto
*
path_obstacle
:
path_decision
->
path_obstacles
().
Items
())
{
if
(
path_obstacle
->
perception_sl_boundary
().
end_s
()
>=
adc_sl_boundary
.
end_s
())
{
continue
;
}
const
auto
&
bounding_box
=
path_obstacle
->
obstacle
()
->
PerceptionBoundingBox
();
if
(
reference_line
.
HasOverlap
(
bounding_box
)
||
reference_line_info
->
IsOnLeftLane
(
bounding_box
.
center
())
||
reference_line_info
->
IsOnRightLane
(
bounding_box
.
center
()))
{
ObjectDecisionType
ignore
;
ignore
.
mutable_ignore
();
if
(
path_obstacle
->
st_boundary
().
IsEmpty
())
{
path_decision
->
AddLongitudinalDecision
(
Name
(),
path_obstacle
->
Id
(),
ignore
);
}
else
if
(
std
::
fabs
(
path_obstacle
->
perception_sl_boundary
().
start_l
())
<
FLAGS_min_driving_width
&&
std
::
fabs
(
path_obstacle
->
perception_sl_boundary
().
end_l
())
<
FLAGS_min_driving_width
)
{
ObjectDecisionType
ignore
;
ignore
.
mutable_ignore
();
continue
;
}
if
(
path_obstacle
->
st_boundary
().
min_s
()
<
0
)
{
path_decision
->
AddLongitudinalDecision
(
Name
(),
path_obstacle
->
Id
(),
ignore
);
continue
;
}
}
return
true
;
...
...
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