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体验新版 GitCode,发现更多精彩内容 >>
提交
5e4aca92
编写于
8月 16, 2017
作者:
Y
Yifei Jiang
提交者:
Jiaming Tao
8月 16, 2017
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
[planning] fixed clint complaint. (#872)
上级
1a049caf
变更
25
隐藏空白更改
内联
并排
Showing
25 changed file
with
45 addition
and
27 deletion
+45
-27
modules/planning/common/frame.cc
modules/planning/common/frame.cc
+1
-1
modules/planning/common/indexed_queue.h
modules/planning/common/indexed_queue.h
+3
-1
modules/planning/common/path_decision.h
modules/planning/common/path_decision.h
+2
-1
modules/planning/common/path_obstacle.cc
modules/planning/common/path_obstacle.cc
+2
-2
modules/planning/common/path_obstacle.h
modules/planning/common/path_obstacle.h
+2
-1
modules/planning/common/planning_data.cc
modules/planning/common/planning_data.cc
+4
-3
modules/planning/common/speed_limit.h
modules/planning/common/speed_limit.h
+1
-0
modules/planning/common/trajectory/discretized_trajectory.h
modules/planning/common/trajectory/discretized_trajectory.h
+2
-1
modules/planning/common/trajectory/publishable_trajectory.cc
modules/planning/common/trajectory/publishable_trajectory.cc
+2
-0
modules/planning/common/trajectory/publishable_trajectory.h
modules/planning/common/trajectory/publishable_trajectory.h
+1
-0
modules/planning/math/hermite_spline.h
modules/planning/math/hermite_spline.h
+3
-2
modules/planning/math/spiral_curve/spiral_curve.h
modules/planning/math/spiral_curve/spiral_curve.h
+1
-0
modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc
...planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc
+2
-0
modules/planning/optimizer/dp_poly_path/dp_road_graph.h
modules/planning/optimizer/dp_poly_path/dp_road_graph.h
+3
-0
modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc
modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc
+0
-1
modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc
...ning/optimizer/qp_spline_path/qp_spline_path_generator.cc
+2
-1
modules/planning/optimizer/speed_optimizer.cc
modules/planning/optimizer/speed_optimizer.cc
+0
-3
modules/planning/optimizer/speed_optimizer.h
modules/planning/optimizer/speed_optimizer.h
+1
-1
modules/planning/optimizer/st_graph/st_graph_boundary.h
modules/planning/optimizer/st_graph/st_graph_boundary.h
+3
-2
modules/planning/optimizer/st_graph/st_graph_data_test.cc
modules/planning/optimizer/st_graph/st_graph_data_test.cc
+2
-3
modules/planning/planner/em/decider.cc
modules/planning/planner/em/decider.cc
+3
-1
modules/planning/planner/rtk/rtk_replay_planner.cc
modules/planning/planner/rtk/rtk_replay_planner.cc
+1
-0
modules/planning/reference_line/reference_line.cc
modules/planning/reference_line/reference_line.cc
+1
-0
modules/planning/reference_line/reference_line.h
modules/planning/reference_line/reference_line.h
+2
-2
modules/planning/trajectory_stitcher/trajectory_stitcher.cc
modules/planning/trajectory_stitcher/trajectory_stitcher.cc
+1
-1
未找到文件。
modules/planning/common/frame.cc
浏览文件 @
5e4aca92
...
...
@@ -136,7 +136,7 @@ bool Frame::Init(const PlanningConfig& config) {
<<
init_pose_
.
DebugString
();
return
false
;
}
// TODO add fuctions to help select the best reference_line(s)
// TODO
(all)
add fuctions to help select the best reference_line(s)
reference_line_
=
reference_lines
.
front
();
if
(
FLAGS_enable_prediction
)
{
...
...
modules/planning/common/indexed_queue.h
浏览文件 @
5e4aca92
...
...
@@ -24,6 +24,7 @@
#include <memory>
#include <queue>
#include <unordered_map>
#include <utility>
namespace
apollo
{
namespace
planning
{
...
...
@@ -31,7 +32,8 @@ namespace planning {
template
<
typename
I
,
typename
T
>
class
IndexedQueue
{
public:
IndexedQueue
(
std
::
size_t
max_queue_size
)
:
max_queue_size_
(
max_queue_size
){};
explicit
IndexedQueue
(
std
::
size_t
max_queue_size
)
:
max_queue_size_
(
max_queue_size
)
{}
const
T
*
Find
(
const
I
id
)
const
{
auto
iter
=
map_
.
find
(
id
);
if
(
iter
==
map_
.
end
())
{
...
...
modules/planning/common/path_decision.h
浏览文件 @
5e4aca92
...
...
@@ -36,7 +36,8 @@ namespace planning {
class
PathDecision
{
public:
PathDecision
(
const
std
::
vector
<
const
PathObstacle
*>
&
path_obstacles
);
explicit
PathDecision
(
const
std
::
vector
<
const
PathObstacle
*>
&
path_obstacles
);
PathDecision
(
const
std
::
vector
<
const
Obstacle
*>
&
obstacles
,
const
ReferenceLine
&
reference_line
);
...
...
modules/planning/common/path_obstacle.cc
浏览文件 @
5e4aca92
...
...
@@ -18,10 +18,10 @@
* @file
**/
#include "modules/planning/common/path_obstacle.h"
#include <unordered_map>
#include <limits>
#include "modules/planning/common/path_obstacle.h"
#include "modules/common/log.h"
#include "modules/planning/common/planning_gflags.h"
...
...
modules/planning/common/path_obstacle.h
浏览文件 @
5e4aca92
...
...
@@ -24,6 +24,7 @@
#include <list>
#include <string>
#include <vector>
#include <unordered_map>
#include "gtest/gtest_prod.h"
...
...
@@ -62,7 +63,7 @@ class PathObstacle {
public:
PathObstacle
();
PathObstacle
(
const
planning
::
Obstacle
*
obstacle
);
explicit
PathObstacle
(
const
planning
::
Obstacle
*
obstacle
);
bool
Init
(
const
ReferenceLine
*
reference_line
);
...
...
modules/planning/common/planning_data.cc
浏览文件 @
5e4aca92
...
...
@@ -37,9 +37,10 @@ PathData* PlanningData::mutable_path_data() { return &path_data_; }
SpeedData
*
PlanningData
::
mutable_speed_data
()
{
return
&
speed_data_
;
}
bool
PlanningData
::
CombinePathAndSpeedProfile
(
const
double
time_resolution
,
const
double
relative_time
,
DiscretizedTrajectory
*
ptr_discretized_trajectory
)
{
bool
PlanningData
::
CombinePathAndSpeedProfile
(
const
double
time_resolution
,
const
double
relative_time
,
DiscretizedTrajectory
*
ptr_discretized_trajectory
)
{
CHECK
(
time_resolution
>
0.0
);
CHECK
(
ptr_discretized_trajectory
!=
nullptr
);
...
...
modules/planning/common/speed_limit.h
浏览文件 @
5e4aca92
...
...
@@ -21,6 +21,7 @@
#ifndef MODULES_PLANNING_COMMON_SPEED_LIMIT_H_
#define MODULES_PLANNING_COMMON_SPEED_LIMIT_H_
#include <utility>
#include <vector>
namespace
apollo
{
...
...
modules/planning/common/trajectory/discretized_trajectory.h
浏览文件 @
5e4aca92
...
...
@@ -62,7 +62,8 @@ class DiscretizedTrajectory : public Trajectory {
template
<
typename
Iter
>
void
PrependTrajectoryPoints
(
Iter
begin
,
Iter
end
)
{
if
(
!
trajectory_points_
.
empty
()
&&
begin
!=
end
)
{
CHECK
((
end
-
1
)
->
relative_time
()
<
trajectory_points_
.
front
().
relative_time
());
CHECK
((
end
-
1
)
->
relative_time
()
<
trajectory_points_
.
front
().
relative_time
());
}
trajectory_points_
.
insert
(
trajectory_points_
.
begin
(),
begin
,
end
);
}
...
...
modules/planning/common/trajectory/publishable_trajectory.cc
浏览文件 @
5e4aca92
...
...
@@ -18,6 +18,8 @@
* @file publishable_trajectory.cpp
**/
#include <utility>
#include "modules/planning/common/trajectory/publishable_trajectory.h"
namespace
apollo
{
...
...
modules/planning/common/trajectory/publishable_trajectory.h
浏览文件 @
5e4aca92
...
...
@@ -21,6 +21,7 @@
#ifndef MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H_
#define MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H_
#include <vector>
#include "modules/planning/common/trajectory/discretized_trajectory.h"
#include "modules/planning/proto/planning.pb.h"
...
...
modules/planning/math/hermite_spline.h
浏览文件 @
5e4aca92
...
...
@@ -21,6 +21,7 @@
#ifndef MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
#define MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
#include <utility>
#include <array>
#include "modules/common/log.h"
...
...
@@ -28,8 +29,8 @@
namespace
apollo
{
namespace
planning
{
//Hermite spline implementation that works for 1d and 2d space interpolation.
//Valid input type T: double, Eigen::Vector2d
//
Hermite spline implementation that works for 1d and 2d space interpolation.
//
Valid input type T: double, Eigen::Vector2d
template
<
typename
T
,
std
::
uint32_t
N
>
class
HermiteSpline
{
public:
...
...
modules/planning/math/spiral_curve/spiral_curve.h
浏览文件 @
5e4aca92
...
...
@@ -24,6 +24,7 @@
#include <cmath>
#include <vector>
#include <algorithm>
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/common/status/status.h"
...
...
modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc
浏览文件 @
5e4aca92
...
...
@@ -21,6 +21,8 @@
#include "modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.h"
#include <string>
#include <utility>
#include <vector>
#include "modules/common/util/file.h"
#include "modules/planning/common/planning_gflags.h"
...
...
modules/planning/optimizer/dp_poly_path/dp_road_graph.h
浏览文件 @
5e4aca92
...
...
@@ -22,6 +22,9 @@
#define MODULES_PLANNING_OPTIMIZER_DP_POLY_PATH_DP_ROAD_GRAPH_H_
#include <vector>
#include <utility>
#include <limits>
#include <string>
#include "modules/common/proto/pnc_point.pb.h"
...
...
modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc
浏览文件 @
5e4aca92
...
...
@@ -25,7 +25,6 @@
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/log.h"
#include "modules/common/util/file.h"
#include "modules/planning/common/path_decision.h"
...
...
modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc
浏览文件 @
5e4aca92
...
...
@@ -113,7 +113,8 @@ bool QpSplinePathGenerator::Generate(
double
dl
=
spline
.
Derivative
(
s
);
double
ddl
=
spline
.
SecondOrderDerivative
(
s
);
ReferencePoint
ref_point
=
reference_line_
.
get_reference_point
(
s
);
Eigen
::
Vector2d
xy_point
=
CartesianFrenetConverter
::
CalculateCartesianPoint
(
Eigen
::
Vector2d
xy_point
=
CartesianFrenetConverter
::
CalculateCartesianPoint
(
ref_point
.
heading
(),
{
ref_point
.
x
(),
ref_point
.
y
()},
l
);
xy_point
[
0
]
=
xy_point
.
x
()
-
x_diff
;
...
...
modules/planning/optimizer/speed_optimizer.cc
浏览文件 @
5e4aca92
...
...
@@ -22,8 +22,6 @@
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/common/speed_limit.h"
#include <string>
namespace
apollo
{
namespace
planning
{
...
...
@@ -80,6 +78,5 @@ void SpeedOptimizer::RecordSTGraphDebug(
{
speed_data
.
speed_vector
().
begin
(),
speed_data
.
speed_vector
().
end
()});
}
}
// namespace planning
}
// namespace apollo
modules/planning/optimizer/speed_optimizer.h
浏览文件 @
5e4aca92
...
...
@@ -22,6 +22,7 @@
#define MODULES_PLANNING_OPTIMIZER_SPEED_OPTIMIZER_H_
#include <string>
#include <vector>
#include "modules/planning/optimizer/optimizer.h"
...
...
@@ -50,7 +51,6 @@ class SpeedOptimizer : public Optimizer {
const
SpeedLimit
&
speed_limits
,
const
SpeedData
&
speed_data
);
void
RecordDebugInfo
(
const
SpeedData
&
speed_data
);
};
}
// namespace planning
...
...
modules/planning/optimizer/st_graph/st_graph_boundary.h
浏览文件 @
5e4aca92
...
...
@@ -23,9 +23,10 @@
#include <memory>
#include <vector>
#include <limits>
#include <string>
#include "modules/planning/proto/planning.pb.h"
#include "modules/common/math/polygon2d.h"
#include "modules/planning/common/path_obstacle.h"
#include "modules/planning/optimizer/st_graph/st_graph_point.h"
...
...
@@ -55,7 +56,7 @@ class StGraphBoundary : public common::math::Polygon2d {
~
StGraphBoundary
()
=
default
;
// TODO: add this function.
// TODO
(all)
: add this function.
// bool IsEmpty() const { return points.empty(); }
bool
IsPointInBoundary
(
const
StGraphPoint
&
st_graph_point
)
const
;
bool
IsPointInBoundary
(
const
STPoint
&
st_point
)
const
;
...
...
modules/planning/optimizer/st_graph/st_graph_data_test.cc
浏览文件 @
5e4aca92
...
...
@@ -14,12 +14,11 @@
* limitations under the License.
*****************************************************************************/
#include "modules/planning/common/path_obstacle.h"
#include "modules/planning/optimizer/st_graph/st_graph_data.h"
#include <algorithm>
#include <cmath>
#include "modules/planning/common/path_obstacle.h"
#include "modules/planning/optimizer/st_graph/st_graph_data.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
...
...
modules/planning/planner/em/decider.cc
浏览文件 @
5e4aca92
...
...
@@ -18,6 +18,8 @@
* @file decider.cpp
**/
#include <limits>
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/log.h"
#include "modules/common/vehicle_state/vehicle_state.h"
...
...
@@ -79,7 +81,7 @@ int Decider::MakeMainStopDecision(Frame* frame,
for
(
const
auto
path_obstacle
:
path_obstacles
.
Items
())
{
const
auto
&
obstacle
=
path_obstacle
->
Obstacle
();
const
auto
&
object_decision
=
path_obstacle
->
LongitudinalDecision
();
if
(
not
object_decision
.
has_stop
())
{
if
(
!
object_decision
.
has_stop
())
{
continue
;
}
...
...
modules/planning/planner/rtk/rtk_replay_planner.cc
浏览文件 @
5e4aca92
...
...
@@ -17,6 +17,7 @@
#include "modules/planning/planner/rtk/rtk_replay_planner.h"
#include <fstream>
#include <utility>
#include "modules/common/log.h"
#include "modules/common/util/string_tokenizer.h"
...
...
modules/planning/reference_line/reference_line.cc
浏览文件 @
5e4aca92
...
...
@@ -24,6 +24,7 @@
#include <string>
#include <utility>
#include <vector>
#include <limits>
#include "boost/math/tools/minima.hpp"
...
...
modules/planning/reference_line/reference_line.h
浏览文件 @
5e4aca92
...
...
@@ -37,8 +37,8 @@ namespace planning {
class
ReferenceLine
{
public:
ReferenceLine
()
=
default
;
ReferenceLine
(
const
std
::
vector
<
ReferencePoint
>&
reference_points
);
ReferenceLine
(
const
hdmap
::
Path
&
hdmap_path
);
explicit
ReferenceLine
(
const
std
::
vector
<
ReferencePoint
>&
reference_points
);
explicit
ReferenceLine
(
const
hdmap
::
Path
&
hdmap_path
);
ReferenceLine
(
const
std
::
vector
<
ReferencePoint
>&
reference_points
,
const
std
::
vector
<
hdmap
::
LaneSegment
>&
lane_segments
,
const
double
max_approximation_error
);
...
...
modules/planning/trajectory_stitcher/trajectory_stitcher.cc
浏览文件 @
5e4aca92
...
...
@@ -43,7 +43,7 @@ std::vector<common::TrajectoryPoint> compute_reinit_stitching_trajectory() {
init_point
.
set_relative_time
(
0.0
);
return
std
::
vector
<
common
::
TrajectoryPoint
>
(
1
,
init_point
);
}
;
}
// Planning from current vehicle state:
// if 1. the auto-driving mode is off or
...
...
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