From 2e07aa482ef136cdd8d752be1490d6bdbbed0bd6 Mon Sep 17 00:00:00 2001 From: kechxu Date: Tue, 5 Sep 2017 10:53:45 -0700 Subject: [PATCH] Planning: add early stop when reach unfeasible situations in qp_frenet_frame.cc --- modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc b/modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc index 5aed812909..f2592698ab 100644 --- a/modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc +++ b/modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc @@ -344,6 +344,7 @@ bool QpFrenetFrame::MapLine( << "further_point: " << further_point.DebugString() << "impact_index: " << impact_index << "(*constraint)[" << i << "]" << (*constraint)[i]; + break; } } @@ -430,6 +431,7 @@ void QpFrenetFrame::CalculateHDMapBound() { reference_line_.SLToXY(sl, &xy); AERROR << "evaluated_knot x: " << std::fixed << xy.x() << " y: " << xy.y(); + break; } } } -- GitLab