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体验新版 GitCode,发现更多精彩内容 >>
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4b70fe80
编写于
2月 12, 2018
作者:
V
vlin17
提交者:
Jiangtao Hu
2月 12, 2018
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差异文件
Dreamview: added planning theta graph to PNC monitor
上级
3fdd4daf
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
42 addition
and
9 deletion
+42
-9
modules/dreamview/backend/simulation_world/simulation_world_service.cc
...view/backend/simulation_world/simulation_world_service.cc
+1
-5
modules/dreamview/frontend/src/components/PNCMonitor/PlanningMonitor.js
...iew/frontend/src/components/PNCMonitor/PlanningMonitor.js
+1
-0
modules/dreamview/frontend/src/store/config/PlanningGraph.yml
...les/dreamview/frontend/src/store/config/PlanningGraph.yml
+24
-0
modules/dreamview/frontend/src/store/planning_data.js
modules/dreamview/frontend/src/store/planning_data.js
+16
-4
未找到文件。
modules/dreamview/backend/simulation_world/simulation_world_service.cc
浏览文件 @
4b70fe80
...
...
@@ -762,11 +762,7 @@ void SimulationWorldService::UpdatePlanningData(const PlanningData &data) {
for
(
int
index
:
sampled_indices
)
{
const
auto
&
path_point
=
path
.
path_point
()[
index
];
auto
*
point
=
downsampled_path
->
add_path_point
();
point
->
set_x
(
path_point
.
x
());
point
->
set_y
(
path_point
.
y
());
point
->
set_s
(
path_point
.
s
());
point
->
set_kappa
(
path_point
.
kappa
());
point
->
set_dkappa
(
path_point
.
dkappa
());
point
->
CopyFrom
(
path_point
);
}
}
}
...
...
modules/dreamview/frontend/src/components/PNCMonitor/PlanningMonitor.js
浏览文件 @
4b70fe80
...
...
@@ -51,6 +51,7 @@ export default class PlanningMonitor extends React.Component {
<
div
>
{
this
.
generateScatterGraph
(
'
speedGraph
'
,
data
.
speedGraph
)}
{
this
.
generateScatterGraph
(
'
accelerationGraph
'
,
data
.
accelerationGraph
)}
{
this
.
generateScatterGraph
(
'
thetaGraph
'
,
data
.
thetaGraph
)}
{
this
.
generateScatterGraph
(
'
kappaGraph
'
,
data
.
kappaGraph
)}
{
this
.
generateScatterGraph
(
'
dpPolyGraph
'
,
data
.
dpPolyGraph
)}
{
this
.
generateStGraph
(
data
.
stGraph
)}
...
...
modules/dreamview/frontend/src/store/config/PlanningGraph.yml
浏览文件 @
4b70fe80
...
...
@@ -221,6 +221,12 @@ kappaGraph:
labelString
:
'
kappa'
properties
:
lines
:
ReferenceLine
:
color
:
'
rgba(255,
0,
0,
0.8)'
# red
borderWidth
:
2
pointRadius
:
0
fill
:
false
showLine
:
true
DpPolyPathOptimizer
:
color
:
'
rgba(27,
249,
105,
0.5)'
# green
borderWidth
:
2
...
...
@@ -259,6 +265,24 @@ dkappaGraph:
pointRadius
:
0
fill
:
false
showLine
:
true
thetaGraph
:
title
:
'
Planning
theta'
options
:
legend
:
display
:
true
axes
:
x
:
labelString
:
'
s
(m)'
y
:
labelString
:
'
theta'
properties
:
lines
:
ReferenceLine
:
color
:
'
rgba(255,
0,
0,
0.8)'
# red
borderWidth
:
2
pointRadius
:
0
fill
:
false
showLine
:
true
dpPolyGraph
:
title
:
'
DP
Path'
options
:
...
...
modules/dreamview/frontend/src/store/planning_data.js
浏览文件 @
4b70fe80
...
...
@@ -21,6 +21,7 @@ export default class PlanningData {
stSpeedGraph
:
{},
speedGraph
:
{},
accelerationGraph
:
{},
thetaGraph
:
{},
kappaGraph
:
{},
dkappaGraph
:
{},
dpPolyGraph
:
{},
...
...
@@ -175,21 +176,31 @@ export default class PlanningData {
}
}
updateThetaGraph
(
paths
)
{
for
(
const
path
of
paths
)
{
const
name
=
path
.
name
===
"
planning_reference_line
"
?
"
ReferenceLine
"
:
path
.
name
;
this
.
data
.
thetaGraph
[
name
]
=
this
.
extractDataPoints
(
path
.
pathPoint
,
'
s
'
,
'
theta
'
);
}
}
updateKappaGraph
(
paths
)
{
for
(
const
path
of
paths
)
{
this
.
data
.
kappaGraph
[
path
.
name
]
=
const
name
=
path
.
name
===
"
planning_reference_line
"
?
"
ReferenceLine
"
:
path
.
name
;
this
.
data
.
kappaGraph
[
name
]
=
this
.
extractDataPoints
(
path
.
pathPoint
,
'
s
'
,
'
kappa
'
);
}
}
updateDkappaGraph
(
paths
)
{
for
(
const
path
of
paths
)
{
this
.
data
.
dkappaGraph
[
path
.
name
]
=
const
name
=
path
.
name
===
"
planning_reference_line
"
?
"
ReferenceLine
"
:
path
.
name
;
this
.
data
.
dkappaGraph
[
name
]
=
this
.
extractDataPoints
(
path
.
pathPoint
,
'
s
'
,
'
dkappa
'
);
}
}
upda
d
teLatencyGraph
(
currentTime
,
latencyStates
)
{
updateLatencyGraph
(
currentTime
,
latencyStates
)
{
const
timeRange
=
300000
;
// 5 min
for
(
const
moduleName
in
this
.
latencyGraph
)
{
let
graph
=
this
.
latencyGraph
[
moduleName
];
...
...
@@ -261,6 +272,7 @@ export default class PlanningData {
if
(
planningData
.
path
)
{
this
.
updateKappaGraph
(
planningData
.
path
);
this
.
updateDkappaGraph
(
planningData
.
path
);
this
.
updateThetaGraph
(
planningData
.
path
);
}
if
(
planningData
.
dpPolyGraph
)
{
...
...
@@ -268,7 +280,7 @@ export default class PlanningData {
}
if
(
world
.
latency
)
{
this
.
upda
d
teLatencyGraph
(
world
.
planningTime
,
world
.
latency
);
this
.
updateLatencyGraph
(
world
.
planningTime
,
world
.
latency
);
}
this
.
updatePlanningTime
(
world
.
planningTime
);
...
...
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