From 40bb58a25ac85188925de58a0538a3b738392552 Mon Sep 17 00:00:00 2001 From: Dong Li Date: Tue, 6 Mar 2018 22:01:12 -0800 Subject: [PATCH] CodeBot: REVISE navi: updated lane marker based ref line generation. --- modules/map/relative_map/navigation_lane.cc | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/modules/map/relative_map/navigation_lane.cc b/modules/map/relative_map/navigation_lane.cc index 2699364462..01f9674d18 100644 --- a/modules/map/relative_map/navigation_lane.cc +++ b/modules/map/relative_map/navigation_lane.cc @@ -173,8 +173,8 @@ void NavigationLane::ConvertNavigationLineToPath(common::Path *path) { point->set_x(flu_x); point->set_y(flu_y); point->set_theta(common::math::NormalizeAngle( - common::math::NormalizeAngle(point->theta()) - - original_pose_.heading())); + common::math::NormalizeAngle(point->theta()) - + original_pose_.heading())); const double accumulated_s = navigation_path.path_point(i).s() - ref_s; point->set_s(accumulated_s); @@ -241,10 +241,9 @@ void NavigationLane::ConvertLaneMarkerToPath( right_lane.c2_curvature() * right_quality) / quality_divider; - double path_c3 = - (left_lane.c3_curvature_derivative() * left_quality + - right_lane.c3_curvature_derivative() * right_quality) / - quality_divider; + double path_c3 = (left_lane.c3_curvature_derivative() * left_quality + + right_lane.c3_curvature_derivative() * right_quality) / + quality_divider; const double current_speed = VehicleStateProvider::instance()->vehicle_state().linear_velocity(); -- GitLab