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体验新版 GitCode,发现更多精彩内容 >>
提交
5ed85f98
编写于
12月 12, 2018
作者:
Y
Yajia Zhang
提交者:
Jiangtao Hu
12月 13, 2018
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电子邮件补丁
差异文件
prediction: deprecate pedestrian acceleration
上级
63b18bb2
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
12 addition
and
16 deletion
+12
-16
modules/prediction/common/prediction_gflags.cc
modules/prediction/common/prediction_gflags.cc
+0
-1
modules/prediction/common/prediction_gflags.h
modules/prediction/common/prediction_gflags.h
+0
-1
modules/prediction/container/obstacles/obstacle.cc
modules/prediction/container/obstacles/obstacle.cc
+2
-4
modules/prediction/container/obstacles/obstacle.h
modules/prediction/container/obstacles/obstacle.h
+10
-3
modules/prediction/predictor/regional/regional_predictor.cc
modules/prediction/predictor/regional/regional_predictor.cc
+0
-7
未找到文件。
modules/prediction/common/prediction_gflags.cc
浏览文件 @
5ed85f98
...
...
@@ -98,7 +98,6 @@ DEFINE_int32(max_num_nearby_lane_in_junction, 1,
"Max number to search nearby lanes"
);
DEFINE_double
(
max_lane_angle_diff_in_junction
,
M_PI
/
6.0
,
"Max angle difference for a candidate lane"
);
DEFINE_bool
(
enable_pedestrian_acc
,
false
,
"Enable calculating speed by acc"
);
DEFINE_double
(
coeff_mul_sigma
,
2.0
,
"coefficient multiply standard deviation"
);
DEFINE_double
(
pedestrian_max_speed
,
10.0
,
"speed upper bound for pedestrian"
);
DEFINE_double
(
pedestrian_max_acc
,
2.0
,
"maximum pedestrian acceleration"
);
...
...
modules/prediction/common/prediction_gflags.h
浏览文件 @
5ed85f98
...
...
@@ -68,7 +68,6 @@ DECLARE_double(max_lane_angle_diff);
DECLARE_int32
(
max_num_current_lane_in_junction
);
DECLARE_int32
(
max_num_nearby_lane_in_junction
);
DECLARE_double
(
max_lane_angle_diff_in_junction
);
DECLARE_bool
(
enable_pedestrian_acc
);
DECLARE_double
(
coeff_mul_sigma
);
DECLARE_double
(
pedestrian_max_speed
);
DECLARE_double
(
pedestrian_max_acc
);
...
...
modules/prediction/container/obstacles/obstacle.cc
浏览文件 @
5ed85f98
...
...
@@ -894,10 +894,8 @@ void Obstacle::UpdateKFPedestrianTracker(const Feature& feature) {
Eigen
::
Matrix
<
double
,
4
,
1
>
u
;
u
(
0
,
0
)
=
feature
.
velocity
().
x
();
u
(
1
,
0
)
=
feature
.
velocity
().
y
();
if
(
FLAGS_enable_pedestrian_acc
)
{
u
(
2
,
0
)
=
feature
.
acceleration
().
x
();
u
(
3
,
0
)
=
feature
.
acceleration
().
y
();
}
u
(
2
,
0
)
=
0.0
;
u
(
3
,
0
)
=
0.0
;
kf_pedestrian_tracker_
.
Predict
(
u
);
...
...
modules/prediction/container/obstacles/obstacle.h
浏览文件 @
5ed85f98
...
...
@@ -30,13 +30,12 @@
#include "Eigen/Dense"
#include "modules/common/filters/digital_filter.h"
#include "modules/common/math/kalman_filter.h"
#include "modules/common/proto/error_code.pb.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/perception/proto/perception_obstacle.pb.h"
#include "modules/prediction/proto/feature.pb.h"
#include "modules/common/math/kalman_filter.h"
#include "modules/map/hdmap/hdmap_common.h"
/**
* @namespace apollo::prediction
* @brief apollo::prediction
...
...
@@ -303,14 +302,22 @@ class Obstacle {
private:
int
id_
=
-
1
;
perception
::
PerceptionObstacle
::
Type
type_
=
perception
::
PerceptionObstacle
::
UNKNOWN_UNMOVABLE
;
std
::
deque
<
Feature
>
feature_history_
;
common
::
math
::
KalmanFilter
<
double
,
6
,
2
,
0
>
kf_motion_tracker_
;
common
::
math
::
KalmanFilter
<
double
,
2
,
2
,
4
>
kf_pedestrian_tracker_
;
common
::
DigitalFilter
heading_filter_
;
std
::
vector
<
std
::
shared_ptr
<
const
hdmap
::
LaneInfo
>>
current_lanes_
;
std
::
vector
<
Eigen
::
MatrixXf
>
rnn_states_
;
bool
rnn_enabled_
=
false
;
};
...
...
modules/prediction/predictor/regional/regional_predictor.cc
浏览文件 @
5ed85f98
...
...
@@ -131,9 +131,6 @@ void RegionalPredictor::GenerateMovingTrajectory(const Obstacle* obstacle,
Eigen
::
Vector2d
position
(
feature
.
position
().
x
(),
feature
.
position
().
y
());
Eigen
::
Vector2d
velocity
(
feature
.
velocity
().
x
(),
feature
.
velocity
().
y
());
Eigen
::
Vector2d
acc
(
0.0
,
0.0
);
if
(
FLAGS_enable_pedestrian_acc
)
{
acc
=
{
feature
.
acceleration
().
x
(),
feature
.
acceleration
().
y
()};
}
const
double
total_time
=
FLAGS_prediction_trajectory_time_length
;
std
::
vector
<
TrajectoryPoint
>
left_points
;
...
...
@@ -239,10 +236,6 @@ void RegionalPredictor::GetTrajectoryCandidatePoints(
u
.
setZero
();
u
(
0
,
0
)
=
velocity
.
x
();
u
(
1
,
0
)
=
velocity
.
y
();
if
(
FLAGS_enable_pedestrian_acc
)
{
u
(
2
,
0
)
=
acceleration
.
x
();
u
(
3
,
0
)
=
acceleration
.
y
();
}
kf
.
SetControlMatrix
(
B
);
...
...
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