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体验新版 GitCode,发现更多精彩内容 >>
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54d4b527
编写于
1月 04, 2019
作者:
J
JasonZhou404
提交者:
Jinyun Zhou
1月 04, 2019
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差异文件
Planning: OpenSpace: refractor roi param to config
上级
4e861804
变更
7
隐藏空白更改
内联
并排
Showing
7 changed file
with
13 addition
and
17 deletion
+13
-17
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+0
-5
modules/planning/common/planning_gflags.h
modules/planning/common/planning_gflags.h
+0
-1
modules/planning/conf/planner_open_space_config.pb.txt
modules/planning/conf/planner_open_space_config.pb.txt
+1
-0
modules/planning/conf/planning.conf
modules/planning/conf/planning.conf
+0
-1
modules/planning/open_space/constraints_formulation/open_space_ROI.cc
...ning/open_space/constraints_formulation/open_space_ROI.cc
+3
-3
modules/planning/proto/planner_open_space_config.proto
modules/planning/proto/planner_open_space_config.proto
+6
-4
modules/tools/open_space_visualization/open_space_roi_wrapper.cc
.../tools/open_space_visualization/open_space_roi_wrapper.cc
+3
-3
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
54d4b527
...
...
@@ -421,11 +421,6 @@ DEFINE_bool(enable_perception_obstacles, true,
DEFINE_bool
(
enable_open_space_planner_thread
,
true
,
"Enable thread in open space planner for trajectory publish."
);
DEFINE_bool
(
parking_inwards
,
false
,
"true for parking the car inwards in parking spot, false for parking "
"the car towards the street"
);
DEFINE_bool
(
open_space_planner_switchable
,
false
,
"true for std planning being able to switch to open space planner "
"when close enough to target parking spot"
);
...
...
modules/planning/common/planning_gflags.h
浏览文件 @
54d4b527
...
...
@@ -221,7 +221,6 @@ DECLARE_string(planner_open_space_config_filename);
DECLARE_double
(
open_space_planning_period
);
DECLARE_double
(
open_space_prediction_time_horizon
);
DECLARE_bool
(
enable_perception_obstacles
);
DECLARE_bool
(
parking_inwards
);
DECLARE_bool
(
enable_open_space_planner_thread
);
DECLARE_bool
(
open_space_planner_switchable
);
DECLARE_bool
(
use_dual_variable_warm_start
);
...
...
modules/planning/conf/planner_open_space_config.pb.txt
浏览文件 @
54d4b527
...
...
@@ -6,6 +6,7 @@ is_near_destination_threshold : 0.05
roi_config : {
roi_longitudinal_range : 15.0
parking_start_range : 12.0
parking_inwards : false
}
warm_start_config : {
...
...
modules/planning/conf/planning.conf
浏览文件 @
54d4b527
...
...
@@ -26,7 +26,6 @@
#--default_qp_smoothing_eps_den=1e-3
# --enable_perception_obstacles=false
# --parking_inwards=false
# --use_dual_variable_warm_start=true
# --open_space_planner_switchable=true
# --enable_open_space_planner_thread=true
...
...
modules/planning/open_space/constraints_formulation/open_space_ROI.cc
浏览文件 @
54d4b527
...
...
@@ -303,7 +303,7 @@ bool OpenSpaceROI::GetOpenSpaceROI() {
double
end_x
=
(
left_top
.
x
()
+
right_top
.
x
())
/
2
;
double
end_y
=
0.0
;
if
(
parking_spot_heading_
>
kMathEpsilon
)
{
if
(
FLAGS_parking_inwards
)
{
if
(
planner_open_space_config_
.
roi_config
().
parking_inwards
()
)
{
end_y
=
left_down
.
y
()
-
std
::
max
(
3
*
(
left_down
.
y
()
-
left_top
.
y
())
/
4
,
vehicle_params_
.
front_edge_to_center
());
}
else
{
...
...
@@ -311,7 +311,7 @@ bool OpenSpaceROI::GetOpenSpaceROI() {
vehicle_params_
.
back_edge_to_center
());
}
}
else
{
if
(
FLAGS_parking_inwards
)
{
if
(
planner_open_space_config_
.
roi_config
().
parking_inwards
()
)
{
end_y
=
left_down
.
y
()
+
std
::
max
(
3
*
(
left_top
.
y
()
-
left_down
.
y
())
/
4
,
vehicle_params_
.
front_edge_to_center
());
}
else
{
...
...
@@ -321,7 +321,7 @@ bool OpenSpaceROI::GetOpenSpaceROI() {
}
open_space_end_pose_
.
emplace_back
(
end_x
);
open_space_end_pose_
.
emplace_back
(
end_y
);
if
(
FLAGS_parking_inwards
)
{
if
(
planner_open_space_config_
.
roi_config
().
parking_inwards
()
)
{
open_space_end_pose_
.
emplace_back
(
parking_spot_heading_
);
}
else
{
open_space_end_pose_
.
emplace_back
(
...
...
modules/planning/proto/planner_open_space_config.proto
浏览文件 @
54d4b527
...
...
@@ -19,10 +19,12 @@ message PlannerOpenSpaceConfig {
}
message
ROIConfig
{
//
Hybrid A Star Warm Start
//
longitudinal range of parking roi
optional
double
roi_longitudinal_range
=
1
[
default
=
10.0
];
//
Dual Variable Warm Start
//
parking spot range detection threadhold
optional
double
parking_start_range
=
2
[
default
=
7.0
];
// Parking orientation for reverse parking
optional
bool
parking_inwards
=
3
[
default
=
false
];
}
message
WarmStartConfig
{
...
...
@@ -50,7 +52,7 @@ message DualVariableWarmStartConfig {
}
message
DistanceApproachConfig
{
// For d
istance approach weight configs
// D
istance approach weight configs
repeated
double
weight_u
=
1
;
repeated
double
weight_u_rate
=
2
;
repeated
double
weight_state
=
3
;
...
...
@@ -68,7 +70,7 @@ message DistanceApproachConfig {
}
message
IpoptConfig
{
//
i
popt configs
//
I
popt configs
optional
int32
ipopt_print_level
=
1
;
optional
int32
mumps_mem_percent
=
2
;
optional
double
mumps_pivtol
=
3
;
...
...
modules/tools/open_space_visualization/open_space_roi_wrapper.cc
浏览文件 @
54d4b527
...
...
@@ -130,13 +130,13 @@ class OpenSpaceROITest {
double
end_x
=
(
left_top
.
x
()
+
right_top
.
x
())
/
2
;
double
end_y
=
0.0
;
if
(
parking_spot_heading_
>
kMathEpsilon
)
{
if
(
FLAGS_parking_inwards
)
{
if
(
planner_open_space_config_
.
roi_config
().
parking_inwards
()
)
{
end_y
=
left_top
.
y
()
+
(
left_down
.
y
()
-
left_top
.
y
())
/
4
;
}
else
{
end_y
=
left_top
.
y
()
+
3
*
(
left_down
.
y
()
-
left_top
.
y
())
/
4
;
}
}
else
{
if
(
FLAGS_parking_inwards
)
{
if
(
planner_open_space_config_
.
roi_config
().
parking_inwards
()
)
{
end_y
=
left_down
.
y
()
+
3
*
(
left_top
.
y
()
-
left_down
.
y
())
/
4
;
}
else
{
end_y
=
left_down
.
y
()
+
(
left_top
.
y
()
-
left_down
.
y
())
/
4
;
...
...
@@ -144,7 +144,7 @@ class OpenSpaceROITest {
}
open_space_end_pose_
.
emplace_back
(
end_x
);
open_space_end_pose_
.
emplace_back
(
end_y
);
if
(
FLAGS_parking_inwards
)
{
if
(
planner_open_space_config_
.
roi_config
().
parking_inwards
()
)
{
open_space_end_pose_
.
emplace_back
(
parking_spot_heading_
);
}
else
{
open_space_end_pose_
.
emplace_back
(
...
...
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