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体验新版 GitCode,发现更多精彩内容 >>
提交
4f696bf3
编写于
9月 08, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
9月 08, 2017
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电子邮件补丁
差异文件
Planning: fixed st_boundary_mapper bug; enabled reference_line_provider in default.
上级
8ccf2363
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
8 addition
and
3 deletion
+8
-3
modules/planning/common/speed/st_boundary.cc
modules/planning/common/speed/st_boundary.cc
+4
-0
modules/planning/conf/planning.conf
modules/planning/conf/planning.conf
+1
-1
modules/planning/tasks/st_graph/st_boundary_mapper.cc
modules/planning/tasks/st_graph/st_boundary_mapper.cc
+3
-2
未找到文件。
modules/planning/common/speed/st_boundary.cc
浏览文件 @
4f696bf3
...
@@ -128,6 +128,10 @@ bool StBoundary::IsValid(
...
@@ -128,6 +128,10 @@ bool StBoundary::IsValid(
if
(
std
::
fmax
(
curr_lower
.
t
(),
curr_upper
.
t
())
+
kMinDeltaT
>=
if
(
std
::
fmax
(
curr_lower
.
t
(),
curr_upper
.
t
())
+
kMinDeltaT
>=
std
::
fmin
(
next_lower
.
t
(),
next_upper
.
t
()))
{
std
::
fmin
(
next_lower
.
t
(),
next_upper
.
t
()))
{
AERROR
<<
"t is not increasing"
;
AERROR
<<
"t is not increasing"
;
AERROR
<<
" curr_lower: "
<<
curr_lower
.
DebugString
();
AERROR
<<
" curr_upper: "
<<
curr_upper
.
DebugString
();
AERROR
<<
" next_lower: "
<<
next_lower
.
DebugString
();
AERROR
<<
" next_upper: "
<<
next_upper
.
DebugString
();
return
false
;
return
false
;
}
}
}
}
...
...
modules/planning/conf/planning.conf
浏览文件 @
4f696bf3
--
flagfile
=
modules
/
common
/
data
/
global_flagfile
.
txt
--
flagfile
=
modules
/
common
/
data
/
global_flagfile
.
txt
--
nouse_ros_time
--
nouse_ros_time
--
no
enable_reference_line_provider_thread
--
enable_reference_line_provider_thread
modules/planning/tasks/st_graph/st_boundary_mapper.cc
浏览文件 @
4f696bf3
...
@@ -404,11 +404,12 @@ Status StBoundaryMapper::MapWithPredictionTrajectory(
...
@@ -404,11 +404,12 @@ Status StBoundaryMapper::MapWithPredictionTrajectory(
}
}
if
(
lower_points
.
size
()
>
1
&&
upper_points
.
size
()
>
1
)
{
if
(
lower_points
.
size
()
>
1
&&
upper_points
.
size
()
>
1
)
{
if
(
obj_decision
.
has_follow
())
{
if
(
obj_decision
.
has_follow
()
&&
lower_points
.
back
().
t
()
<
planning_time_
)
{
const
double
diff_s
=
lower_points
.
back
().
s
()
-
lower_points
.
front
().
s
();
const
double
diff_s
=
lower_points
.
back
().
s
()
-
lower_points
.
front
().
s
();
const
double
diff_t
=
lower_points
.
back
().
t
()
-
lower_points
.
front
().
t
();
const
double
diff_t
=
lower_points
.
back
().
t
()
-
lower_points
.
front
().
t
();
double
extend_lower_s
=
double
extend_lower_s
=
diff_s
/
diff_t
*
planning_time_
+
lower_points
.
front
().
s
();
diff_s
/
diff_t
*
(
planning_time_
-
lower_points
.
front
().
t
())
+
lower_points
.
front
().
s
();
const
double
extend_upper_s
=
const
double
extend_upper_s
=
extend_lower_s
+
(
upper_points
.
back
().
s
()
-
lower_points
.
back
().
s
())
+
extend_lower_s
+
(
upper_points
.
back
().
s
()
-
lower_points
.
back
().
s
())
+
1.0
;
1.0
;
...
...
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