From 27a333344b6ca5b4293a769a505942aee582f530 Mon Sep 17 00:00:00 2001 From: kechxu Date: Mon, 7 Aug 2017 10:49:08 -0700 Subject: [PATCH] modify the increment pf path_s for more points to compute trajectory cost --- modules/planning/optimizer/dp_poly_path/trajectory_cost.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/planning/optimizer/dp_poly_path/trajectory_cost.cc b/modules/planning/optimizer/dp_poly_path/trajectory_cost.cc index 7e1e7cf3c5..63268f8300 100644 --- a/modules/planning/optimizer/dp_poly_path/trajectory_cost.cc +++ b/modules/planning/optimizer/dp_poly_path/trajectory_cost.cc @@ -62,8 +62,8 @@ double TrajectoryCost::calculate(const QuinticPolynomialCurve1d &curve, double dl = std::fabs(curve.evaluate(1, path_s)); total_cost += dl; - - path_s += config_.path_resolution(); + // TODO(all): add the 5.0 as a parameter into config + path_s += config_.path_resolution() / 5.0; } // obstacle cost return total_cost; -- GitLab