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体验新版 GitCode,发现更多精彩内容 >>
提交
67ad6208
编写于
5月 21, 2019
作者:
J
JasonZhou404
提交者:
Qi Luo
5月 22, 2019
浏览文件
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电子邮件补丁
差异文件
Planning: fix bug in open space wrapper
上级
0d53925e
变更
1
显示空白变更内容
内联
并排
Showing
1 changed file
with
7 addition
and
7 deletion
+7
-7
modules/planning/open_space/tools/distance_approach_problem_wrapper.cc
...ing/open_space/tools/distance_approach_problem_wrapper.cc
+7
-7
未找到文件。
modules/planning/open_space/tools/distance_approach_problem_wrapper.cc
浏览文件 @
67ad6208
...
...
@@ -488,13 +488,13 @@ void DistanceGetResult(ResultContainer* result_ptr,
size_t
size_by_distance
=
result_ptr
->
PrepareStateResult
()
->
cols
();
AERROR_IF
(
size
!=
size_by_distance
)
<<
"sizes by hybrid A and distance approach not consistent"
;
for
(
size_t
i
=
0
;
i
<
size
;
i
++
)
{
for
(
size_t
i
=
0
;
i
<
size
;
++
i
)
{
x
[
i
]
=
result_ptr
->
GetX
()
->
at
(
i
);
y
[
i
]
=
result_ptr
->
GetY
()
->
at
(
i
);
phi
[
i
]
=
result_ptr
->
GetPhi
()
->
at
(
i
);
v
[
i
]
=
result_ptr
->
GetV
()
->
at
(
i
);
}
for
(
size_t
i
=
0
;
i
<
size
-
1
;
i
++
)
{
for
(
size_t
i
=
0
;
i
+
1
<
size
;
++
i
)
{
a
[
i
]
=
result_ptr
->
GetA
()
->
at
(
i
);
steer
[
i
]
=
result_ptr
->
GetSteer
()
->
at
(
i
);
}
...
...
@@ -502,7 +502,7 @@ void DistanceGetResult(ResultContainer* result_ptr,
size_t
obstacles_edges_sum
=
obstacles_ptr
->
GetObstaclesEdgesNum
().
sum
();
size_t
obstacles_num_to_car
=
4
*
obstacles_ptr
->
GetObstaclesNum
();
for
(
size_t
i
=
0
;
i
<
size_by_distance
;
i
++
)
{
for
(
size_t
i
=
0
;
i
<
size_by_distance
;
++
i
)
{
opt_x
[
i
]
=
(
*
(
result_ptr
->
PrepareStateResult
()))(
0
,
i
);
opt_y
[
i
]
=
(
*
(
result_ptr
->
PrepareStateResult
()))(
1
,
i
);
opt_phi
[
i
]
=
(
*
(
result_ptr
->
PrepareStateResult
()))(
2
,
i
);
...
...
@@ -511,19 +511,19 @@ void DistanceGetResult(ResultContainer* result_ptr,
if
(
result_ptr
->
PrepareLResult
()
->
cols
()
!=
0
&&
result_ptr
->
PrepareTimeResult
()
!=
0
&&
result_ptr
->
PrepareNResult
()
!=
0
)
{
for
(
size_t
i
=
0
;
i
<
size_by_distance
;
i
++
)
{
for
(
size_t
i
=
0
;
i
+
1
<
size_by_distance
;
++
i
)
{
opt_time
[
i
]
=
(
*
(
result_ptr
->
PrepareTimeResult
()))(
0
,
i
);
for
(
size_t
j
=
0
;
j
<
obstacles_edges_sum
;
j
++
)
{
for
(
size_t
j
=
0
;
j
<
obstacles_edges_sum
;
++
j
)
{
opt_dual_l
[
i
*
obstacles_edges_sum
+
j
]
=
(
*
(
result_ptr
->
PrepareLResult
()))(
j
,
i
);
}
for
(
size_t
k
=
0
;
k
<
obstacles_num_to_car
;
k
++
)
{
for
(
size_t
k
=
0
;
k
<
obstacles_num_to_car
;
++
k
)
{
opt_dual_n
[
i
*
obstacles_num_to_car
+
k
]
=
(
*
(
result_ptr
->
PrepareNResult
()))(
k
,
i
);
}
}
}
for
(
size_t
i
=
0
;
i
<
size_by_distance
-
1
;
i
++
)
{
for
(
size_t
i
=
0
;
i
+
1
<
size_by_distance
;
++
i
)
{
opt_a
[
i
]
=
(
*
(
result_ptr
->
PrepareControlResult
()))(
0
,
i
);
opt_steer
[
i
]
=
(
*
(
result_ptr
->
PrepareControlResult
()))(
1
,
i
);
}
...
...
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