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体验新版 GitCode,发现更多精彩内容 >>
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3d021c75
编写于
10月 16, 2017
作者:
Z
Zhang Liangliang
提交者:
Dong Li
10月 16, 2017
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差异文件
Planning: unified lookforward length.
上级
101f93e8
变更
18
展开全部
隐藏空白更改
内联
并排
Showing
18 changed file
with
9983 addition
and
10016 deletion
+9983
-10016
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+1
-1
modules/planning/conf/planning_config.pb.txt
modules/planning/conf/planning_config.pb.txt
+3
-3
modules/planning/reference_line/reference_line_provider.cc
modules/planning/reference_line/reference_line_provider.cc
+3
-5
modules/planning/reference_line/reference_line_smoother.cc
modules/planning/reference_line/reference_line_smoother.cc
+3
-5
modules/planning/reference_line/reference_line_smoother_test.cc
...s/planning/reference_line/reference_line_smoother_test.cc
+1
-1
modules/planning/testdata/garage_test/result_follow_0.pb.txt
modules/planning/testdata/garage_test/result_follow_0.pb.txt
+493
-493
modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
.../planning/testdata/garage_test/result_out_of_map_0.pb.txt
+848
-848
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
...s/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+848
-848
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
...anning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+852
-852
modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
...nning/testdata/garage_test/result_stop_over_line_0.pb.txt
+848
-848
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
...nning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+842
-842
modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
...ng/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
+485
-485
modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
...ng/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
+852
-852
modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
...ng/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
+862
-869
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
...anning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
+482
-482
modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
...testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
+853
-875
modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
.../testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
+865
-865
modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
...lanning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
+842
-842
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
3d021c75
...
...
@@ -39,7 +39,7 @@ DEFINE_double(
"look backward this distance when creating reference line from routing"
);
DEFINE_double
(
look_forward_distance
,
1
00
,
look_forward_distance
,
2
00
,
"look forward this distance when creating reference line from routing"
);
DEFINE_bool
(
enable_smooth_reference_line
,
true
,
"enable smooth the map reference line"
);
...
...
modules/planning/conf/planning_config.pb.txt
浏览文件 @
3d021c75
...
...
@@ -126,10 +126,10 @@ em_planner_config {
}
reference_line_smoother_config {
spline_order:
5
spline_order:
6
max_spline_length: 25.0
boundary_bound: 0.
2
derivative_bound:
0.15
boundary_bound: 0.
15
derivative_bound:
1.0
second_derivative_bound: 1.0
third_derivative_bound: 1.0
ref_line_weight: 0.0
...
...
modules/planning/reference_line/reference_line_provider.cc
浏览文件 @
3d021c75
...
...
@@ -120,13 +120,11 @@ bool ReferenceLineProvider::CreateReferenceLineFromRouting(
std
::
vector
<
hdmap
::
RouteSegments
>
route_segments
;
// additional smooth reference line length, unit: meter
const
double
kForwardAdditionalLength
=
100
;
{
std
::
lock_guard
<
std
::
mutex
>
lock
(
pnc_map_mutex_
);
if
(
!
pnc_map_
->
GetRouteSegments
(
position
,
FLAGS_look_backward_distance
,
FLAGS_look_forward_distance
+
kForwardAdditionalLength
,
&
route_segments
))
{
if
(
!
pnc_map_
->
GetRouteSegments
(
position
,
FLAGS_look_backward_distance
,
FLAGS_look_forward_distance
,
&
route_segments
))
{
AERROR
<<
"Failed to extract segments from routing"
;
return
false
;
}
...
...
modules/planning/reference_line/reference_line_smoother.cc
浏览文件 @
3d021c75
...
...
@@ -134,7 +134,7 @@ bool ReferenceLineSmoother::Sampling(const ReferenceLine& raw_reference_line) {
const
double
length
=
raw_reference_line
.
Length
();
ADEBUG
<<
"Length = "
<<
length
;
uint32_t
num_spline
=
std
::
max
(
2
u
,
static_cast
<
uint32_t
>
(
length
/
smoother_config_
.
max_spline_length
()));
1
u
,
static_cast
<
uint32_t
>
(
length
/
smoother_config_
.
max_spline_length
()));
const
double
delta_s
=
length
/
num_spline
;
double
s
=
0.0
;
for
(
std
::
uint32_t
i
=
0
;
i
<=
num_spline
;
++
i
,
s
+=
delta_s
)
{
...
...
@@ -152,7 +152,7 @@ bool ReferenceLineSmoother::Sampling(const ReferenceLine& raw_reference_line) {
bool
ReferenceLineSmoother
::
ApplyConstraint
(
const
ReferenceLine
&
raw_reference_line
)
{
uint32_t
constraint_num
=
3
*
(
t_knots_
.
size
()
-
1
)
+
1
;
uint32_t
constraint_num
=
5
*
(
t_knots_
.
size
()
-
1
)
+
1
;
std
::
vector
<
double
>
evaluated_t
;
common
::
util
::
uniform_slice
(
t_knots_
.
front
(),
t_knots_
.
back
(),
...
...
@@ -169,10 +169,8 @@ bool ReferenceLineSmoother::ApplyConstraint(
std
::
vector
<
double
>
lateral_bound
;
std
::
vector
<
common
::
math
::
Vec2d
>
xy_points
;
for
(
std
::
uint32_t
i
=
0
;
i
<
path_points
.
size
();
++
i
)
{
const
double
kBoundCoeff
=
0.5
;
headings
.
push_back
(
path_points
[
i
].
theta
());
longitidinal_bound
.
push_back
(
kBoundCoeff
*
smoother_config_
.
boundary_bound
());
longitidinal_bound
.
push_back
(
smoother_config_
.
boundary_bound
());
lateral_bound
.
push_back
(
smoother_config_
.
boundary_bound
());
xy_points
.
emplace_back
(
path_points
[
i
].
x
(),
path_points
[
i
].
y
());
}
...
...
modules/planning/reference_line/reference_line_smoother_test.cc
浏览文件 @
3d021c75
...
...
@@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) {
Spline2dSolver
spline_solver
(
t_knots
,
5
);
EXPECT_TRUE
(
smoother_
.
Smooth
(
*
reference_line_
,
&
smoothed_reference_line
,
&
spline_solver
));
EXPECT_FLOAT_EQ
(
153.
30553
,
smoothed_reference_line
.
Length
());
EXPECT_FLOAT_EQ
(
153.
19209
,
smoothed_reference_line
.
Length
());
}
}
// namespace planning
...
...
modules/planning/testdata/garage_test/result_follow_0.pb.txt
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3d021c75
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modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt
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3d021c75
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modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
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modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
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modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
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modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
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3d021c75
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modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
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3d021c75
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