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502e2e6f
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体验新版 GitCode,发现更多精彩内容 >>
提交
502e2e6f
编写于
2月 25, 2019
作者:
J
JasonZhou404
提交者:
Jinyun Zhou
2月 25, 2019
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差异文件
Planning: renaming for better semantic understanding
上级
d69525ca
变更
6
隐藏空白更改
内联
并排
Showing
6 changed file
with
19 addition
and
14 deletion
+19
-14
modules/planning/common/frame.h
modules/planning/common/frame.h
+7
-5
modules/planning/navi_planning.cc
modules/planning/navi_planning.cc
+1
-1
modules/planning/on_lane_planning.cc
modules/planning/on_lane_planning.cc
+2
-2
modules/planning/open_space_planning.cc
modules/planning/open_space_planning.cc
+6
-4
modules/planning/planner/open_space/open_space_planner.cc
modules/planning/planner/open_space/open_space_planner.cc
+1
-1
modules/planning/tasks/smoothers/smoother.cc
modules/planning/tasks/smoothers/smoother.cc
+2
-1
未找到文件。
modules/planning/common/frame.h
浏览文件 @
502e2e6f
...
...
@@ -121,12 +121,14 @@ class Frame {
const
double
planning_start_time
,
prediction
::
PredictionObstacles
*
prediction_obstacles
);
void
set_last_planned_trajectory
(
ADCTrajectory
last_planned_trajectory
)
{
last_planned_trajectory_
=
std
::
move
(
last_planned_trajectory
);
void
set_current_frame_planned_trajectory
(
ADCTrajectory
current_frame_planned_trajectory
)
{
current_frame_planned_trajectory_
=
std
::
move
(
current_frame_planned_trajectory
);
}
ADCTrajectory
last
_planned_trajectory
()
const
{
return
last
_planned_trajectory_
;
const
ADCTrajectory
&
current_frame
_planned_trajectory
()
const
{
return
current_frame
_planned_trajectory_
;
}
// TODO(Qi, Jinyun): check the usage in open space planner
...
...
@@ -205,7 +207,7 @@ class Frame {
ThreadSafeIndexedObstacles
obstacles_
;
ChangeLaneDecider
change_lane_decider_
;
ADCTrajectory
last
_planned_trajectory_
;
// last published trajectory
ADCTrajectory
current_frame
_planned_trajectory_
;
// last published trajectory
// debug info for open space planner
planning_internal
::
OpenSpaceDebug
open_space_debug_
;
...
...
modules/planning/navi_planning.cc
浏览文件 @
502e2e6f
...
...
@@ -232,7 +232,7 @@ void NaviPlanning::RunOnce(const LocalView& local_view,
FillPlanningPb
(
start_timestamp
,
trajectory_pb
);
}
frame_
->
set_
last
_planned_trajectory
(
*
trajectory_pb
);
frame_
->
set_
current_frame
_planned_trajectory
(
*
trajectory_pb
);
auto
seq_num
=
frame_
->
SequenceNum
();
FrameHistory
::
Instance
()
->
Add
(
seq_num
,
std
::
move
(
frame_
));
...
...
modules/planning/on_lane_planning.cc
浏览文件 @
502e2e6f
...
...
@@ -274,7 +274,7 @@ void OnLanePlanning::RunOnce(const LocalView& local_view,
}
FillPlanningPb
(
start_timestamp
,
trajectory_pb
);
frame_
->
set_
last
_planned_trajectory
(
*
trajectory_pb
);
frame_
->
set_
current_frame
_planned_trajectory
(
*
trajectory_pb
);
const
uint32_t
n
=
frame_
->
SequenceNum
();
FrameHistory
::
Instance
()
->
Add
(
n
,
std
::
move
(
frame_
));
return
;
...
...
@@ -333,7 +333,7 @@ void OnLanePlanning::RunOnce(const LocalView& local_view,
FillPlanningPb
(
start_timestamp
,
trajectory_pb
);
ADEBUG
<<
"Planning pb:"
<<
trajectory_pb
->
header
().
DebugString
();
frame_
->
set_
last
_planned_trajectory
(
*
trajectory_pb
);
frame_
->
set_
current_frame
_planned_trajectory
(
*
trajectory_pb
);
if
(
FLAGS_enable_planning_smoother
)
{
planning_smoother_
.
Smooth
(
FrameHistory
::
Instance
(),
frame_
.
get
(),
trajectory_pb
);
...
...
modules/planning/open_space_planning.cc
浏览文件 @
502e2e6f
...
...
@@ -193,7 +193,7 @@ void OpenSpacePlanning::RunOnce(const LocalView& local_view,
}
FillPlanningPb
(
start_timestamp
,
ptr_trajectory_pb
);
frame_
->
set_
last
_planned_trajectory
(
*
ptr_trajectory_pb
);
frame_
->
set_
current_frame
_planned_trajectory
(
*
ptr_trajectory_pb
);
const
uint32_t
n
=
frame_
->
SequenceNum
();
FrameHistory
::
Instance
()
->
Add
(
n
,
std
::
move
(
frame_
));
return
;
...
...
@@ -229,7 +229,7 @@ void OpenSpacePlanning::RunOnce(const LocalView& local_view,
FillPlanningPb
(
start_timestamp
,
ptr_trajectory_pb
);
ADEBUG
<<
"Planning pb:"
<<
ptr_trajectory_pb
->
header
().
DebugString
();
frame_
->
set_
last
_planned_trajectory
(
*
ptr_trajectory_pb
);
frame_
->
set_
current_frame
_planned_trajectory
(
*
ptr_trajectory_pb
);
const
uint32_t
n
=
frame_
->
SequenceNum
();
FrameHistory
::
Instance
()
->
Add
(
n
,
std
::
move
(
frame_
));
...
...
@@ -247,7 +247,8 @@ Status OpenSpacePlanning::Plan(
Status
trajectory_partition_status
;
if
(
status
==
Status
::
OK
())
{
auto
trajectory_after_stitching_point
=
frame_
->
last_planned_trajectory
();
auto
trajectory_after_stitching_point
=
frame_
->
current_frame_planned_trajectory
();
last_stitching_trajectory_
=
frame_
->
last_stitching_trajectory
();
trajectory_after_stitching_point
.
mutable_header
()
->
set_timestamp_sec
(
current_time_stamp
);
...
...
@@ -275,7 +276,8 @@ Status OpenSpacePlanning::Plan(
last_publishable_trajectory_
.
reset
(
new
PublishableTrajectory
(
trajectory_after_stitching_point
));
frame_
->
set_last_planned_trajectory
(
trajectory_after_stitching_point
);
frame_
->
set_current_frame_planned_trajectory
(
trajectory_after_stitching_point
);
ADEBUG
<<
"current_time_stamp: "
<<
std
::
to_string
(
current_time_stamp
);
...
...
modules/planning/planner/open_space/open_space_planner.cc
浏览文件 @
502e2e6f
...
...
@@ -189,7 +189,7 @@ void OpenSpacePlanner::LoadTrajectoryToFrame(Frame* frame) {
trajectory_to_end_pb_
.
Clear
();
trajectory_to_end_pb_
.
mutable_trajectory_point
()
->
CopyFrom
(
*
(
trajectory_to_end_
.
mutable_trajectory_point
()));
frame
->
set_
last
_planned_trajectory
(
trajectory_to_end_pb_
);
frame
->
set_
current_frame
_planned_trajectory
(
trajectory_to_end_pb_
);
frame
->
mutable_open_space_debug
()
->
CopyFrom
(
open_space_debug_
);
*
(
frame
->
mutable_last_stitching_trajectory
())
=
stitching_trajectory_
;
}
...
...
modules/planning/tasks/smoothers/smoother.cc
浏览文件 @
502e2e6f
...
...
@@ -95,7 +95,8 @@ apollo::common::Status Smoother::Smooth(
AWARN
<<
msg
;
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
}
const
auto
&
previous_planning
=
previous_frame
->
last_planned_trajectory
();
const
auto
&
previous_planning
=
previous_frame
->
current_frame_planned_trajectory
();
auto
header
=
current_trajectory_pb
->
header
();
*
current_trajectory_pb
=
previous_planning
;
current_trajectory_pb
->
mutable_header
()
->
CopyFrom
(
header
);
...
...
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