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体验新版 GitCode,发现更多精彩内容 >>
提交
3ce40473
编写于
10月 02, 2018
作者:
J
JasonZhou404
提交者:
Jiangtao Hu
10月 02, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Planning: fix test for open space
上级
500e5f4c
变更
24
隐藏空白更改
内联
并排
Showing
24 changed file
with
34 addition
and
44 deletion
+34
-44
modules/planning/conf/planner_open_space_config.pb.txt
modules/planning/conf/planner_open_space_config.pb.txt
+2
-2
modules/planning/open_space/distance_approach_ipopt_interface.cc
.../planning/open_space/distance_approach_ipopt_interface.cc
+1
-1
modules/planning/open_space/distance_approach_ipopt_interface.h
...s/planning/open_space/distance_approach_ipopt_interface.h
+1
-1
modules/planning/open_space/distance_approach_ipopt_interface_test.cc
...ning/open_space/distance_approach_ipopt_interface_test.cc
+1
-1
modules/planning/open_space/distance_approach_problem.cc
modules/planning/open_space/distance_approach_problem.cc
+1
-1
modules/planning/open_space/distance_approach_problem.h
modules/planning/open_space/distance_approach_problem.h
+1
-1
modules/planning/open_space/distance_approach_problem_test.cc
...les/planning/open_space/distance_approach_problem_test.cc
+1
-1
modules/planning/open_space/hybrid_a_star.cc
modules/planning/open_space/hybrid_a_star.cc
+1
-1
modules/planning/open_space/hybrid_a_star.h
modules/planning/open_space/hybrid_a_star.h
+1
-1
modules/planning/open_space/hybrid_a_star_test.cc
modules/planning/open_space/hybrid_a_star_test.cc
+7
-7
modules/planning/open_space/hybrid_a_star_wrapper.cc
modules/planning/open_space/hybrid_a_star_wrapper.cc
+1
-1
modules/planning/open_space/node3d.cc
modules/planning/open_space/node3d.cc
+1
-1
modules/planning/open_space/node3d.h
modules/planning/open_space/node3d.h
+1
-1
modules/planning/open_space/node3d_test.cc
modules/planning/open_space/node3d_test.cc
+1
-1
modules/planning/open_space/reeds_shepp_path.cc
modules/planning/open_space/reeds_shepp_path.cc
+4
-14
modules/planning/open_space/reeds_shepp_path.h
modules/planning/open_space/reeds_shepp_path.h
+1
-1
modules/planning/open_space/reeds_shepp_path_test.cc
modules/planning/open_space/reeds_shepp_path_test.cc
+1
-1
modules/planning/open_space/warm_start_ipopt_interface.cc
modules/planning/open_space/warm_start_ipopt_interface.cc
+1
-1
modules/planning/open_space/warm_start_ipopt_interface.h
modules/planning/open_space/warm_start_ipopt_interface.h
+1
-1
modules/planning/open_space/warm_start_problem.cc
modules/planning/open_space/warm_start_problem.cc
+1
-1
modules/planning/open_space/warm_start_problem.h
modules/planning/open_space/warm_start_problem.h
+1
-1
modules/planning/planner/open_space/open_space_planner.cc
modules/planning/planner/open_space/open_space_planner.cc
+1
-1
modules/planning/planner/open_space/open_space_planner.h
modules/planning/planner/open_space/open_space_planner.h
+1
-1
modules/planning/planner/open_space/open_space_planner_test.cc
...es/planning/planner/open_space/open_space_planner_test.cc
+1
-1
未找到文件。
modules/planning/conf/planner_open_space_config.pb.txt
浏览文件 @
3ce40473
...
...
@@ -11,9 +11,9 @@ warm_start_config : {
next_node_num : 10
step_size : 0.5
back_penalty : 0.0
gear_switch_penalty : 10
0
.0
gear_switch_penalty : 10.0
steer_penalty : 100.0
steer_change_penalty : 10
0
.0
steer_change_penalty : 10.0
}
distance_approach_config : {
...
...
modules/planning/open_space/distance_approach_ipopt_interface.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
distance_approach_problem_interface.cc
* @file
*/
#include "modules/planning/open_space/distance_approach_ipopt_interface.h"
...
...
modules/planning/open_space/distance_approach_ipopt_interface.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
distance_approach_ipopt_interface.h
* @file
*/
#ifndef MODULES_PLANNING_OPEN_SPACE_DISTANCE_APPROACH_IPOPT_INTERFACE_H_
...
...
modules/planning/open_space/distance_approach_ipopt_interface_test.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
distance_approach_ipopt_interface_test.h
* @file
**/
#include "modules/planning/open_space/distance_approach_ipopt_interface.h"
#include "IpTNLP.hpp"
...
...
modules/planning/open_space/distance_approach_problem.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
distance_approach_problem.cc
* @file
*/
#include "modules/planning/open_space/distance_approach_problem.h"
...
...
modules/planning/open_space/distance_approach_problem.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
distance_approach_problem.h
* @file
*/
#ifndef MODULES_PLANNING_OPEN_SPACE_DISTANCE_APPROACH_PROBLEM_H_
...
...
modules/planning/open_space/distance_approach_problem_test.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
distance_approach_problem_test.cc
* @file
**/
#include "modules/planning/open_space/distance_approach_problem.h"
...
...
modules/planning/open_space/hybrid_a_star.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
hybrid_a_star.cc
* @file
*/
#include "modules/planning/open_space/hybrid_a_star.h"
...
...
modules/planning/open_space/hybrid_a_star.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
hybrid_a_star.h
* @file
*/
/*
...
...
modules/planning/open_space/hybrid_a_star_test.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
hybrid_a_star_test.cc
* @file
*/
#include <memory>
...
...
@@ -43,18 +43,18 @@ class HybridATest : public ::testing::Test {
};
TEST_F
(
HybridATest
,
test1
)
{
double
sx
=
0
.0
;
double
sx
=
-
15
.0
;
double
sy
=
0.0
;
double
sphi
=
0.0
;
double
ex
=
1
00
.0
;
double
ey
=
10
0.0
;
double
ephi
=
M_PI
;
double
ex
=
1
5
.0
;
double
ey
=
0.0
;
double
ephi
=
0.0
;
ThreadSafeIndexedObstacles
obstacles_list
;
Result
result
;
std
::
unique_ptr
<
Obstacle
>
obstacle_class
=
std
::
unique_ptr
<
Obstacle
>
(
new
Obstacle
());
Vec2d
obstacle_center
(
50.0
,
5
0.0
);
Box2d
obstacle_box
(
obstacle_center
,
0.0
,
20.0
,
20
.0
);
Vec2d
obstacle_center
(
0.0
,
0.0
);
Box2d
obstacle_box
(
obstacle_center
,
0.0
,
5.0
,
5
.0
);
std
::
unique_ptr
<
Obstacle
>
obstacle
=
obstacle_class
->
CreateStaticVirtualObstacles
(
"a box in center"
,
obstacle_box
);
...
...
modules/planning/open_space/hybrid_a_star_wrapper.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
hybrid_a_star_wrapper.cc
* @file
*/
#include "modules/planning/open_space/hybrid_a_star.h"
...
...
modules/planning/open_space/node3d.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
node3d.cc
* @file
*/
#include "modules/planning/open_space/node3d.h"
...
...
modules/planning/open_space/node3d.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
node3d.h
* @file
*/
#ifndef MODULES_PLANNING_OPEN_SPACE_NODE3D_H_
...
...
modules/planning/open_space/node3d_test.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
node3d_test.cc
* @file
*/
#include "modules/planning/open_space/node3d.h"
#include "gtest/gtest.h"
...
...
modules/planning/open_space/reeds_shepp_path.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
reeds_shepp_path.cc
* @file
*/
#include "modules/planning/open_space/reeds_shepp_path.h"
...
...
@@ -869,19 +869,8 @@ bool ReedShepp::SetRSP(int size, double lengths[], char types[],
double
sum
=
0.0
;
for
(
int
i
=
0
;
i
<
size
;
i
++
)
{
sum
+=
std
::
abs
(
lengths
[
i
]);
if
(
std
::
abs
(
lengths
[
i
])
>=
100
)
{
AINFO
<<
"std::abs(lengths[i])"
<<
std
::
abs
(
lengths
[
i
]);
AINFO
<<
"length too large"
;
return
false
;
}
}
path
.
total_length
=
sum
;
if
(
path
.
total_length
>=
100
)
{
AINFO
<<
"total length too large"
;
return
false
;
}
if
(
path
.
total_length
<=
0.0
)
{
AINFO
<<
"total length smaller than 0"
;
return
false
;
...
...
@@ -942,8 +931,9 @@ bool ReedShepp::GenerateLocalConfigurations(
index
++
;
Interpolation
(
index
,
l
,
m
,
ox
,
oy
,
ophi
,
&
px
,
&
py
,
&
pphi
,
&
pgear
);
}
while
(
px
.
back
()
==
0.0
&&
py
.
back
()
==
0.0
&&
pphi
.
back
()
==
0.0
&&
pgear
.
back
()
==
true
)
{
double
epsilon
=
1e-15
;
while
(
std
::
fabs
(
px
.
back
())
<
epsilon
&&
std
::
fabs
(
py
.
back
())
<
epsilon
&&
std
::
fabs
(
pphi
.
back
())
<
epsilon
&&
pgear
.
back
())
{
px
.
pop_back
();
py
.
pop_back
();
pphi
.
pop_back
();
...
...
modules/planning/open_space/reeds_shepp_path.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
reeds_shepp_path.h
* @file
*/
#ifndef MODULES_PLANNING_OPEN_SPACE_REEDS_SHEPP_PATH_H_
...
...
modules/planning/open_space/reeds_shepp_path_test.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
reeds_shepp_path_test.cc
* @file
*/
#include <memory>
...
...
modules/planning/open_space/warm_start_ipopt_interface.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
warm_start_ipopt_interface.cc
* @file
*/
#include "modules/planning/open_space/warm_start_ipopt_interface.h"
...
...
modules/planning/open_space/warm_start_ipopt_interface.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
warm_start_ipopt_interface.h
* @file
*/
#ifndef MODULES_PLANNING_OPEN_SPACE_WARM_START_IPOPT_INTERFACE_H_
...
...
modules/planning/open_space/warm_start_problem.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
warm_start_problem.cc
* @file
*/
#include "modules/planning/open_space/warm_start_problem.h"
...
...
modules/planning/open_space/warm_start_problem.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/*
* @file
warm_start_problem.h
* @file
*/
#ifndef MODULES_PLANNING_OPEN_SPACE_WARM_START_PROBLEM_H_
...
...
modules/planning/planner/open_space/open_space_planner.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
open_space_planner.cc
* @file
**/
#include "modules/planning/planner/open_space/open_space_planner.h"
...
...
modules/planning/planner/open_space/open_space_planner.h
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
open_space_planner.h
* @file
**/
#ifndef MODULES_PLANNING_PLANNER_OPENSPACE_OPENSPACE_PLANNER_H_
...
...
modules/planning/planner/open_space/open_space_planner_test.cc
浏览文件 @
3ce40473
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
open_space_planner_test.cc
* @file
**/
#include "modules/planning/planner/open_space/open_space_planner.h"
...
...
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