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体验新版 GitCode,发现更多精彩内容 >>
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564832f5
编写于
8月 30, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
8月 30, 2017
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差异文件
Planning: removed dependancy on reference line in qp_spline_path optimizer.
上级
be052dc9
变更
10
展开全部
隐藏空白更改
内联
并排
Showing
10 changed file
with
5144 addition
and
5152 deletion
+5144
-5152
modules/planning/conf/planning_config.pb.txt
modules/planning/conf/planning_config.pb.txt
+5
-5
modules/planning/reference_line/reference_line_smoother.cc
modules/planning/reference_line/reference_line_smoother.cc
+1
-1
modules/planning/reference_line/reference_line_smoother_test.cc
...s/planning/reference_line/reference_line_smoother_test.cc
+1
-1
modules/planning/tasks/dp_poly_path/dp_road_graph.cc
modules/planning/tasks/dp_poly_path/dp_road_graph.cc
+0
-1
modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc
...planning/tasks/qp_spline_path/qp_spline_path_generator.cc
+3
-10
modules/planning/testdata/garage_test/result_follow_0.pb.txt
modules/planning/testdata/garage_test/result_follow_0.pb.txt
+641
-641
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
...s/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+1129
-1129
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
...anning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+1128
-1128
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
...nning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+1122
-1122
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
...g/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
+1114
-1114
未找到文件。
modules/planning/conf/planning_config.pb.txt
浏览文件 @
564832f5
...
...
@@ -78,9 +78,9 @@ em_planner_config {
number_of_fx_constraint_knots: 13
time_resolution: 0.1
regularization_weight: 0.1
derivative_weight: 1.0
second_derivative_weight:
0
.0
third_derivative_weight: 1
0
.0
derivative_weight: 1
0
.0
second_derivative_weight:
1
.0
third_derivative_weight: 1.0
reference_line_weight: 0.0
num_refline_point: 10
num_output: 100
...
...
@@ -127,7 +127,7 @@ em_planner_config {
}
reference_line_smoother_config {
num_spline:
6
num_spline:
5
spline_order: 6
num_evaluated_points: 13
boundary_bound: 0.2
...
...
@@ -137,7 +137,7 @@ reference_line_smoother_config {
ref_line_weight: 0.0
derivative_weight: 0.0
second_derivative_weight: 0.0
third_derivative_weight: 100
third_derivative_weight: 100
.0
num_of_total_points: 500
}
...
...
modules/planning/reference_line/reference_line_smoother.cc
浏览文件 @
564832f5
...
...
@@ -203,7 +203,7 @@ bool ReferenceLineSmoother::apply_constraint(
}
if
(
!
spline_solver_
->
mutable_constraint
()
->
Add
Thir
dDerivativeSmoothConstraint
())
{
->
Add
Secon
dDerivativeSmoothConstraint
())
{
AERROR
<<
"Add jointness constraint failed"
;
return
false
;
}
...
...
modules/planning/reference_line/reference_line_smoother_test.cc
浏览文件 @
564832f5
...
...
@@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) {
ReferenceLine
smoothed_reference_line
;
EXPECT_FLOAT_EQ
(
153.87421
,
reference_line_
->
Length
());
EXPECT_TRUE
(
smoother_
.
Smooth
(
*
reference_line_
,
&
smoothed_reference_line
));
EXPECT_FLOAT_EQ
(
153.
54385
,
smoothed_reference_line
.
Length
());
EXPECT_FLOAT_EQ
(
153.
3642
,
smoothed_reference_line
.
Length
());
}
}
// namespace planning
...
...
modules/planning/tasks/dp_poly_path/dp_road_graph.cc
浏览文件 @
564832f5
...
...
@@ -93,7 +93,6 @@ bool DPRoadGraph::FindPathTunnel(const common::TrajectoryPoint &init_point,
accumulated_s
+=
path_length
;
}
FrenetFramePath
tunnel
(
frenet_path
);
path_data
->
SetReferenceLine
(
&
reference_line_
);
path_data
->
SetFrenetPath
(
tunnel
);
return
true
;
...
...
modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc
浏览文件 @
564832f5
...
...
@@ -122,7 +122,9 @@ bool QpSplinePathGenerator::Generate(
double
l
=
spline
(
s
);
if
(
planning_debug
->
planning_data
().
sl_frame
().
size
()
>=
1
)
{
auto
sl_point
=
planning_debug
->
mutable_planning_data
()
->
mutable_sl_frame
(
0
)
->
mutable_sl_path
()
->
Add
();
->
mutable_sl_frame
(
0
)
->
mutable_sl_path
()
->
Add
();
sl_point
->
set_l
(
l
);
sl_point
->
set_s
(
s
);
}
...
...
@@ -332,7 +334,6 @@ bool QpSplinePathGenerator::AddConstraint(
AERROR
<<
"Add spline joint third derivative constraint failed!"
;
return
false
;
}
return
true
;
}
...
...
@@ -358,14 +359,6 @@ void QpSplinePathGenerator::AddKernel() {
spline_kernel
->
add_third_order_derivative_matrix
(
qp_spline_path_config_
.
third_derivative_weight
());
}
// reference line kernel
if
(
qp_spline_path_config_
.
number_of_knots
()
>
1
&&
qp_spline_path_config_
.
reference_line_weight
()
>
0
)
{
std
::
vector
<
double
>
l_vec
(
knots_
.
size
(),
0.0
);
spline_kernel
->
add_reference_line_kernel_matrix
(
knots_
,
l_vec
,
qp_spline_path_config_
.
reference_line_weight
());
}
}
bool
QpSplinePathGenerator
::
Solve
()
{
...
...
modules/planning/testdata/garage_test/result_follow_0.pb.txt
浏览文件 @
564832f5
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
浏览文件 @
564832f5
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
浏览文件 @
564832f5
此差异已折叠。
点击以展开。
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
浏览文件 @
564832f5
此差异已折叠。
点击以展开。
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
浏览文件 @
564832f5
此差异已折叠。
点击以展开。
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