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体验新版 GitCode,发现更多精彩内容 >>
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2d258026
编写于
8月 07, 2017
作者:
D
Dong Li
提交者:
lianglia-apollo
8月 07, 2017
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差异文件
remove required reference line in path obstacle constructor
上级
58a584e3
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
7 addition
and
10 deletion
+7
-10
modules/planning/common/path_decision.cc
modules/planning/common/path_decision.cc
+3
-2
modules/planning/common/path_obstacle.cc
modules/planning/common/path_obstacle.cc
+1
-4
modules/planning/common/path_obstacle.h
modules/planning/common/path_obstacle.h
+3
-4
未找到文件。
modules/planning/common/path_decision.cc
浏览文件 @
2d258026
...
...
@@ -33,8 +33,9 @@ PathDecision::PathDecision(const std::vector<const Obstacle *> &obstacles,
void
PathDecision
::
Init
(
const
std
::
vector
<
const
Obstacle
*>
&
obstacles
)
{
for
(
const
auto
obstacle
:
obstacles
)
{
path_obstacles_
.
Add
(
obstacle
->
Id
(),
common
::
util
::
make_unique
<
PathObstacle
>
(
obstacle
,
&
reference_line_
));
auto
path_obstacle
=
common
::
util
::
make_unique
<
PathObstacle
>
(
obstacle
);
path_obstacle
->
Init
(
&
reference_line_
);
path_obstacles_
.
Add
(
obstacle
->
Id
(),
std
::
move
(
path_obstacle
));
}
}
...
...
modules/planning/common/path_obstacle.cc
浏览文件 @
2d258026
...
...
@@ -27,13 +27,10 @@ namespace planning {
const
std
::
string
&
PathObstacle
::
Id
()
const
{
return
id_
;
}
PathObstacle
::
PathObstacle
(
const
planning
::
Obstacle
*
obstacle
,
const
ReferenceLine
*
reference_line
)
PathObstacle
::
PathObstacle
(
const
planning
::
Obstacle
*
obstacle
)
:
obstacle_
(
obstacle
)
{
CHECK_NOTNULL
(
obstacle
);
id_
=
obstacle_
->
Id
();
CHECK
(
reference_line
!=
nullptr
)
<<
"reference line is null"
;
Init
(
reference_line
);
}
bool
PathObstacle
::
Init
(
const
ReferenceLine
*
reference_line
)
{
...
...
modules/planning/common/path_obstacle.h
浏览文件 @
2d258026
...
...
@@ -55,8 +55,9 @@ using ConstPathObstacleList = std::vector<const PathObstacle*>;
*/
class
PathObstacle
{
public:
PathObstacle
(
const
planning
::
Obstacle
*
obstacle
,
const
ReferenceLine
*
reference_line
);
PathObstacle
(
const
planning
::
Obstacle
*
obstacle
);
bool
Init
(
const
ReferenceLine
*
reference_line
);
const
std
::
string
&
Id
()
const
;
...
...
@@ -77,8 +78,6 @@ class PathObstacle {
const
SLBoundary
&
sl_boundary
()
const
;
private:
bool
Init
(
const
ReferenceLine
*
reference_line
);
std
::
string
id_
;
const
planning
::
Obstacle
*
obstacle_
=
nullptr
;
std
::
vector
<
ObjectDecisionType
>
decisions_
;
...
...
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