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1975fb69
编写于
8月 05, 2017
作者:
D
Dong Li
提交者:
Capri2014
8月 05, 2017
浏览文件
操作
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电子邮件补丁
差异文件
planning: rename some basic class names for more clairty (#530)
上级
9ad6bdf8
变更
10
显示空白变更内容
内联
并排
Showing
10 changed file
with
16 addition
and
19 deletion
+16
-19
modules/planning/common/BUILD
modules/planning/common/BUILD
+2
-2
modules/planning/common/frame.cc
modules/planning/common/frame.cc
+1
-2
modules/planning/common/frame.h
modules/planning/common/frame.h
+2
-6
modules/planning/common/obstacle.h
modules/planning/common/obstacle.h
+2
-0
modules/planning/common/path_decision.cc
modules/planning/common/path_decision.cc
+1
-1
modules/planning/common/path_decision.h
modules/planning/common/path_decision.h
+2
-4
modules/planning/common/path_obstacle.h
modules/planning/common/path_obstacle.h
+3
-1
modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc
...planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc
+1
-1
modules/planning/optimizer/dp_poly_path/dp_road_graph.cc
modules/planning/optimizer/dp_poly_path/dp_road_graph.cc
+1
-1
modules/planning/optimizer/dp_poly_path/dp_road_graph.h
modules/planning/optimizer/dp_poly_path/dp_road_graph.h
+1
-1
未找到文件。
modules/planning/common/BUILD
浏览文件 @
1975fb69
...
@@ -51,6 +51,7 @@ cc_library(
...
@@ -51,6 +51,7 @@ cc_library(
"obstacle.h"
,
"obstacle.h"
,
],
],
deps
=
[
deps
=
[
":indexed_list"
,
"//modules/common/math:box2d"
,
"//modules/common/math:box2d"
,
"//modules/common/math:polygon2d"
,
"//modules/common/math:polygon2d"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
...
@@ -69,6 +70,7 @@ cc_library(
...
@@ -69,6 +70,7 @@ cc_library(
"path_obstacle.h"
,
"path_obstacle.h"
,
],
],
deps
=
[
deps
=
[
":indexed_list"
,
":obstacle"
,
":obstacle"
,
"//modules/planning/proto:planning_proto"
,
"//modules/planning/proto:planning_proto"
,
"//modules/planning/reference_line"
,
"//modules/planning/reference_line"
,
...
@@ -100,7 +102,6 @@ cc_library(
...
@@ -100,7 +102,6 @@ cc_library(
"path_decision.h"
,
"path_decision.h"
,
],
],
deps
=
[
deps
=
[
":indexed_list"
,
":obstacle"
,
":obstacle"
,
":path_obstacle"
,
":path_obstacle"
,
"//modules/planning/reference_line"
,
"//modules/planning/reference_line"
,
...
@@ -150,7 +151,6 @@ cc_library(
...
@@ -150,7 +151,6 @@ cc_library(
"frame.h"
,
"frame.h"
,
],
],
deps
=
[
deps
=
[
":indexed_list"
,
":indexed_queue"
,
":indexed_queue"
,
":obstacle"
,
":obstacle"
,
":path_decision"
,
":path_decision"
,
...
...
modules/planning/common/frame.cc
浏览文件 @
1975fb69
...
@@ -193,8 +193,7 @@ bool Frame::SmoothReferenceLine(const hdmap::Path &hdmap_path,
...
@@ -193,8 +193,7 @@ bool Frame::SmoothReferenceLine(const hdmap::Path &hdmap_path,
return
true
;
return
true
;
}
}
const
Obstacles
&
Frame
::
GetObstacles
()
const
{
return
obstacles_
;
}
const
IndexedObstacles
&
Frame
::
GetObstacles
()
const
{
return
obstacles_
;
}
Obstacles
*
Frame
::
MutableObstacles
()
{
return
&
obstacles_
;
}
std
::
string
Frame
::
DebugString
()
const
{
std
::
string
Frame
::
DebugString
()
const
{
return
"Frame: "
+
std
::
to_string
(
sequence_num_
);
return
"Frame: "
+
std
::
to_string
(
sequence_num_
);
...
...
modules/planning/common/frame.h
浏览文件 @
1975fb69
...
@@ -30,7 +30,6 @@
...
@@ -30,7 +30,6 @@
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/hdmap/hdmap.h"
#include "modules/map/pnc_map/pnc_map.h"
#include "modules/map/pnc_map/pnc_map.h"
#include "modules/planning/common/indexed_list.h"
#include "modules/planning/common/indexed_queue.h"
#include "modules/planning/common/indexed_queue.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/path_decision.h"
#include "modules/planning/common/path_decision.h"
...
@@ -42,8 +41,6 @@
...
@@ -42,8 +41,6 @@
namespace
apollo
{
namespace
apollo
{
namespace
planning
{
namespace
planning
{
using
Obstacles
=
IndexedList
<
std
::
string
,
Obstacle
>
;
class
Frame
{
class
Frame
{
public:
public:
Frame
(
const
uint32_t
sequence_num
);
Frame
(
const
uint32_t
sequence_num
);
...
@@ -66,8 +63,7 @@ class Frame {
...
@@ -66,8 +63,7 @@ class Frame {
PlanningData
*
mutable_planning_data
();
PlanningData
*
mutable_planning_data
();
std
::
string
DebugString
()
const
;
std
::
string
DebugString
()
const
;
const
Obstacles
&
GetObstacles
()
const
;
const
IndexedObstacles
&
GetObstacles
()
const
;
Obstacles
*
MutableObstacles
();
const
ADCTrajectory
&
GetADCTrajectory
()
const
;
const
ADCTrajectory
&
GetADCTrajectory
()
const
;
ADCTrajectory
*
MutableADCTrajectory
();
ADCTrajectory
*
MutableADCTrajectory
();
...
@@ -129,7 +125,7 @@ class Frame {
...
@@ -129,7 +125,7 @@ class Frame {
routing
::
RoutingResponse
routing_result_
;
routing
::
RoutingResponse
routing_result_
;
prediction
::
PredictionObstacles
prediction_
;
prediction
::
PredictionObstacles
prediction_
;
Obstacles
obstacles_
;
Indexed
Obstacles
obstacles_
;
std
::
unique_ptr
<
PathDecision
>
path_decision_
;
std
::
unique_ptr
<
PathDecision
>
path_decision_
;
uint32_t
sequence_num_
=
0
;
uint32_t
sequence_num_
=
0
;
localization
::
Pose
init_pose_
;
localization
::
Pose
init_pose_
;
...
...
modules/planning/common/obstacle.h
浏览文件 @
1975fb69
...
@@ -29,12 +29,14 @@
...
@@ -29,12 +29,14 @@
#include "modules/common/math/box2d.h"
#include "modules/common/math/box2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/common/indexed_list.h"
namespace
apollo
{
namespace
apollo
{
namespace
planning
{
namespace
planning
{
class
Obstacle
;
class
Obstacle
;
using
ConstObstacleList
=
std
::
vector
<
const
Obstacle
*>
;
using
ConstObstacleList
=
std
::
vector
<
const
Obstacle
*>
;
using
IndexedObstacles
=
IndexedList
<
std
::
string
,
Obstacle
>
;
class
Obstacle
{
class
Obstacle
{
public:
public:
...
...
modules/planning/common/path_decision.cc
浏览文件 @
1975fb69
...
@@ -38,7 +38,7 @@ void PathDecision::Init(const std::vector<const Obstacle *> &obstacles) {
...
@@ -38,7 +38,7 @@ void PathDecision::Init(const std::vector<const Obstacle *> &obstacles) {
}
}
}
}
const
PathObstacles
&
PathDecision
::
path_obstacles
()
const
{
const
Indexed
PathObstacles
&
PathDecision
::
path_obstacles
()
const
{
return
path_obstacles_
;
return
path_obstacles_
;
}
}
...
...
modules/planning/common/path_decision.h
浏览文件 @
1975fb69
...
@@ -33,14 +33,12 @@
...
@@ -33,14 +33,12 @@
namespace
apollo
{
namespace
apollo
{
namespace
planning
{
namespace
planning
{
using
PathObstacles
=
IndexedList
<
std
::
string
,
PathObstacle
>
;
class
PathDecision
{
class
PathDecision
{
public:
public:
PathDecision
(
const
std
::
vector
<
const
Obstacle
*>
&
obstacles
,
PathDecision
(
const
std
::
vector
<
const
Obstacle
*>
&
obstacles
,
const
ReferenceLine
&
reference_line
);
const
ReferenceLine
&
reference_line
);
const
PathObstacles
&
path_obstacles
()
const
;
const
Indexed
PathObstacles
&
path_obstacles
()
const
;
bool
AddDecision
(
const
std
::
string
&
tag
,
const
std
::
string
&
object_id
,
bool
AddDecision
(
const
std
::
string
&
tag
,
const
std
::
string
&
object_id
,
const
ObjectDecisionType
&
decision
);
const
ObjectDecisionType
&
decision
);
...
@@ -52,7 +50,7 @@ class PathDecision {
...
@@ -52,7 +50,7 @@ class PathDecision {
private:
private:
const
ReferenceLine
&
reference_line_
;
const
ReferenceLine
&
reference_line_
;
PathObstacles
path_obstacles_
;
Indexed
PathObstacles
path_obstacles_
;
};
};
}
// namespace planning
}
// namespace planning
...
...
modules/planning/common/path_obstacle.h
浏览文件 @
1975fb69
...
@@ -32,6 +32,7 @@
...
@@ -32,6 +32,7 @@
#include "modules/common/math/box2d.h"
#include "modules/common/math/box2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/common/indexed_list.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/reference_line/reference_line.h"
...
@@ -39,9 +40,10 @@ namespace apollo {
...
@@ -39,9 +40,10 @@ namespace apollo {
namespace
planning
{
namespace
planning
{
// a commonly used type to store Object Id and Object Decisions
// a commonly used type to store Object Id and Object Decisions
using
DecisionList
=
std
::
vector
<
std
::
pair
<
std
::
string
,
ObjectDecisionType
>>
;
using
Id
DecisionList
=
std
::
vector
<
std
::
pair
<
std
::
string
,
ObjectDecisionType
>>
;
class
PathObstacle
;
class
PathObstacle
;
using
IndexedPathObstacles
=
IndexedList
<
std
::
string
,
PathObstacle
>
;
using
ConstPathObstacleList
=
std
::
vector
<
const
PathObstacle
*>
;
using
ConstPathObstacleList
=
std
::
vector
<
const
PathObstacle
*>
;
/**
/**
...
...
modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc
浏览文件 @
1975fb69
...
@@ -62,7 +62,7 @@ Status DpPolyPathOptimizer::Process(const SpeedData &speed_data,
...
@@ -62,7 +62,7 @@ Status DpPolyPathOptimizer::Process(const SpeedData &speed_data,
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
"dp_road_graph path generation"
);
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
"dp_road_graph path generation"
);
}
}
const
auto
&
obstacles
=
frame_
->
GetObstacles
().
Items
();
const
auto
&
obstacles
=
frame_
->
GetObstacles
().
Items
();
DecisionList
decision_list
;
Id
DecisionList
decision_list
;
if
(
!
dp_road_graph
.
ComputeObjectDecision
(
if
(
!
dp_road_graph
.
ComputeObjectDecision
(
*
path_data
,
speed_data
,
reference_line
,
obstacles
,
&
decision_list
))
{
*
path_data
,
speed_data
,
reference_line
,
obstacles
,
&
decision_list
))
{
AERROR
<<
"Failed to make decision based on tunnel"
;
AERROR
<<
"Failed to make decision based on tunnel"
;
...
...
modules/planning/optimizer/dp_poly_path/dp_road_graph.cc
浏览文件 @
1975fb69
...
@@ -227,7 +227,7 @@ bool DPRoadGraph::ComputeObjectDecision(const PathData &path_data,
...
@@ -227,7 +227,7 @@ bool DPRoadGraph::ComputeObjectDecision(const PathData &path_data,
const
SpeedData
&
heuristic_speed_data
,
const
SpeedData
&
heuristic_speed_data
,
const
ReferenceLine
&
reference_line
,
const
ReferenceLine
&
reference_line
,
const
ConstObstacleList
&
obstacles
,
const
ConstObstacleList
&
obstacles
,
DecisionList
*
const
decisions
)
{
Id
DecisionList
*
const
decisions
)
{
CHECK_NOTNULL
(
decisions
);
CHECK_NOTNULL
(
decisions
);
std
::
vector
<
common
::
SLPoint
>
adc_sl_points
;
std
::
vector
<
common
::
SLPoint
>
adc_sl_points
;
...
...
modules/planning/optimizer/dp_poly_path/dp_road_graph.h
浏览文件 @
1975fb69
...
@@ -53,7 +53,7 @@ class DPRoadGraph {
...
@@ -53,7 +53,7 @@ class DPRoadGraph {
const
SpeedData
&
heuristic_speed_data
,
const
SpeedData
&
heuristic_speed_data
,
const
ReferenceLine
&
reference_line
,
const
ReferenceLine
&
reference_line
,
const
ConstObstacleList
&
obstacles
,
const
ConstObstacleList
&
obstacles
,
DecisionList
*
const
decisions
);
Id
DecisionList
*
const
decisions
);
private:
private:
/**
/**
...
...
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