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体验新版 GitCode,发现更多精彩内容 >>
提交
7363834c
编写于
9月 05, 2017
作者:
Z
Zhang Liangliang
提交者:
Dong Li
9月 05, 2017
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Planning: deleted unused functions.
上级
628a3c23
变更
17
隐藏空白更改
内联
并排
Showing
17 changed file
with
20 addition
and
233 deletion
+20
-233
modules/canbus/can_client/can_client_tool.cc
modules/canbus/can_client/can_client_tool.cc
+7
-21
modules/planning/common/frame.cc
modules/planning/common/frame.cc
+0
-5
modules/planning/common/frame.h
modules/planning/common/frame.h
+0
-1
modules/planning/common/path/discretized_path.cc
modules/planning/common/path/discretized_path.cc
+1
-24
modules/planning/common/path/discretized_path.h
modules/planning/common/path/discretized_path.h
+0
-2
modules/planning/common/path_decision.cc
modules/planning/common/path_decision.cc
+0
-11
modules/planning/common/path_decision.h
modules/planning/common/path_decision.h
+0
-3
modules/planning/common/speed/st_boundary.cc
modules/planning/common/speed/st_boundary.cc
+3
-13
modules/planning/common/speed/st_boundary.h
modules/planning/common/speed/st_boundary.h
+0
-2
modules/planning/common/trajectory/discretized_trajectory.cc
modules/planning/common/trajectory/discretized_trajectory.cc
+1
-35
modules/planning/common/trajectory/discretized_trajectory.h
modules/planning/common/trajectory/discretized_trajectory.h
+6
-17
modules/planning/common/trajectory/trajectory.h
modules/planning/common/trajectory/trajectory.h
+0
-4
modules/planning/tasks/dp_st_speed/dp_st_graph.cc
modules/planning/tasks/dp_st_speed/dp_st_graph.cc
+1
-1
modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc
modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc
+0
-8
modules/planning/tasks/qp_spline_path/qp_frenet_frame.h
modules/planning/tasks/qp_spline_path/qp_frenet_frame.h
+1
-5
modules/planning/tasks/st_graph/st_boundary_mapper.cc
modules/planning/tasks/st_graph/st_boundary_mapper.cc
+0
-77
modules/planning/tasks/st_graph/st_boundary_mapper.h
modules/planning/tasks/st_graph/st_boundary_mapper.h
+0
-4
未找到文件。
modules/canbus/can_client/can_client_tool.cc
浏览文件 @
7363834c
...
...
@@ -73,13 +73,9 @@ class CanAgent {
public:
explicit
CanAgent
(
TestCanParam
*
param_ptr
)
:
param_ptr_
(
param_ptr
)
{}
TestCanParam
*
param_ptr
()
{
return
param_ptr_
;
}
TestCanParam
*
param_ptr
()
{
return
param_ptr_
;
}
CanAgent
*
other_agent
()
{
return
other_agent_
;
}
CanAgent
*
other_agent
()
{
return
other_agent_
;
}
bool
Start
()
{
thread_recv_
.
reset
(
new
std
::
thread
([
this
]
{
RecvThreadFunc
();
}));
...
...
@@ -170,25 +166,15 @@ class CanAgent {
return
;
}
void
AddOtherAgent
(
CanAgent
*
agent
)
{
other_agent_
=
agent
;
}
void
AddOtherAgent
(
CanAgent
*
agent
)
{
other_agent_
=
agent
;
}
bool
is_receiving
()
{
return
is_receiving_
;
}
bool
is_receiving
()
const
{
return
is_receiving_
;
}
void
is_receiving
(
bool
val
)
{
is_receiving_
=
val
;
}
void
is_receiving
(
bool
val
)
{
is_receiving_
=
val
;
}
bool
is_sending_finish
()
{
return
is_sending_finish_
;
}
bool
is_sending_finish
()
const
{
return
is_sending_finish_
;
}
void
is_sending_finish
(
bool
val
)
{
is_sending_finish_
=
val
;
}
void
is_sending_finish
(
bool
val
)
{
is_sending_finish_
=
val
;
}
void
RecvThreadFunc
()
{
using
::
apollo
::
common
::
time
::
Clock
;
...
...
modules/planning/common/frame.cc
浏览文件 @
7363834c
...
...
@@ -255,11 +255,6 @@ bool Frame::CheckCollision() {
uint32_t
Frame
::
SequenceNum
()
const
{
return
sequence_num_
;
}
const
Obstacle
*
Frame
::
FindObstacle
(
const
std
::
string
&
obstacle_id
)
{
std
::
lock_guard
<
std
::
mutex
>
lock
(
obstacles_mutex_
);
return
obstacles_
.
Find
(
obstacle_id
);
}
std
::
vector
<
ReferenceLine
>
Frame
::
CreateReferenceLineFromRouting
(
const
common
::
PointENU
&
position
,
const
routing
::
RoutingResponse
&
routing
)
{
std
::
vector
<
ReferenceLine
>
reference_lines
;
...
...
modules/planning/common/frame.h
浏览文件 @
7363834c
...
...
@@ -75,7 +75,6 @@ class Frame {
std
::
vector
<
ReferenceLineInfo
>
&
reference_line_info
();
bool
AddObstacle
(
std
::
unique_ptr
<
Obstacle
>
obstacle
);
const
Obstacle
*
FindObstacle
(
const
std
::
string
&
obstacle_id
);
const
ReferenceLineInfo
*
FindDriveReferenceLineInfo
();
const
ReferenceLineInfo
*
DriveReferenceLinfInfo
()
const
;
...
...
modules/planning/common/path/discretized_path.cc
浏览文件 @
7363834c
...
...
@@ -69,30 +69,7 @@ common::PathPoint DiscretizedPath::EvaluateUsingLinearApproximation(
return
path_points_
.
back
();
}
return
util
::
InterpolateUsingLinearApproximation
(
*
(
it_lower
-
1
),
*
it_lower
,
path_s
);
}
int
DiscretizedPath
::
QueryClosestPoint
(
const
double
path_s
)
const
{
if
(
path_points_
.
empty
())
{
return
-
1
;
}
auto
it_lower
=
QueryLowerBound
(
path_s
);
if
(
it_lower
==
path_points_
.
begin
())
{
return
0
;
}
if
(
it_lower
==
path_points_
.
end
())
{
return
path_points_
.
size
()
-
1
;
}
double
d0
=
path_s
-
(
it_lower
-
1
)
->
s
();
double
d1
=
it_lower
->
s
()
-
path_s
;
if
(
d0
<
d1
)
{
return
static_cast
<
int
>
(
it_lower
-
path_points_
.
begin
())
-
1
;
}
else
{
return
static_cast
<
int
>
(
it_lower
-
path_points_
.
begin
());
}
path_s
);
}
const
std
::
vector
<
common
::
PathPoint
>
&
DiscretizedPath
::
path_points
()
const
{
...
...
modules/planning/common/path/discretized_path.h
浏览文件 @
7363834c
...
...
@@ -48,8 +48,6 @@ class DiscretizedPath {
common
::
PathPoint
EvaluateUsingLinearApproximation
(
const
double
path_s
)
const
;
int
QueryClosestPoint
(
const
double
path_s
)
const
;
const
std
::
vector
<
common
::
PathPoint
>&
path_points
()
const
;
std
::
uint32_t
NumOfPoints
()
const
;
...
...
modules/planning/common/path_decision.cc
浏览文件 @
7363834c
...
...
@@ -30,17 +30,6 @@ namespace planning {
using
IndexedPathObstacles
=
IndexedList
<
std
::
string
,
PathObstacle
>
;
bool
PathDecision
::
AddPathObstacles
(
const
std
::
vector
<
const
PathObstacle
*>
&
path_obstacles
)
{
for
(
const
auto
*
path_obstacle
:
path_obstacles
)
{
if
(
!
path_obstacles_
.
Add
(
path_obstacle
->
Id
(),
*
path_obstacle
))
{
AERROR
<<
"Failed to add obstacle: "
<<
path_obstacle
->
Id
();
return
false
;
}
}
return
true
;
}
bool
PathDecision
::
AddPathObstacle
(
std
::
unique_ptr
<
PathObstacle
>
&&
path_obstacle
)
{
auto
id
=
path_obstacle
->
Id
();
...
...
modules/planning/common/path_decision.h
浏览文件 @
7363834c
...
...
@@ -39,9 +39,6 @@ class PathDecision {
public:
PathDecision
()
=
default
;
bool
AddPathObstacles
(
const
std
::
vector
<
const
PathObstacle
*>
&
path_obstacles
);
bool
AddPathObstacle
(
std
::
unique_ptr
<
PathObstacle
>
&&
path_obstacle
);
const
IndexedList
<
std
::
string
,
PathObstacle
>
&
path_obstacles
()
const
;
...
...
modules/planning/common/speed/st_boundary.cc
浏览文件 @
7363834c
...
...
@@ -29,8 +29,8 @@
namespace
apollo
{
namespace
planning
{
using
Vec2d
=
common
::
math
::
Vec2d
;
using
LineSegment2d
=
common
::
math
::
LineSegment2d
;
using
common
::
math
::
Vec2d
;
using
common
::
math
::
LineSegment2d
;
StBoundary
::
StBoundary
(
const
std
::
vector
<
std
::
pair
<
STPoint
,
STPoint
>>&
point_pairs
)
{
...
...
@@ -174,16 +174,6 @@ STPoint StBoundary::BottomRightPoint() const {
return
lower_points_
.
back
();
}
STPoint
StBoundary
::
TopRightPoint
()
const
{
DCHECK
(
!
upper_points_
.
empty
())
<<
"StBoundary has zero points."
;
return
upper_points_
.
back
();
}
STPoint
StBoundary
::
TopLeftPoint
()
const
{
DCHECK
(
!
upper_points_
.
empty
())
<<
"StBoundary has zero points."
;
return
upper_points_
.
front
();
}
StBoundary
StBoundary
::
ExpandByS
(
const
double
s
)
const
{
if
(
lower_points_
.
empty
())
{
AERROR
<<
"The current st_boundary has NO points."
;
...
...
@@ -336,10 +326,10 @@ bool StBoundary::GetBoundarySRange(const double curr_time, double* s_upper,
}
double
StBoundary
::
DistanceS
(
const
STPoint
&
st_point
)
const
{
constexpr
double
kMaxDistance
=
1.0e10
;
double
s_upper
;
double
s_lower
;
if
(
GetBoundarySRange
(
st_point
.
t
(),
&
s_upper
,
&
s_lower
))
{
constexpr
double
kMaxDistance
=
1.0e10
;
return
kMaxDistance
;
}
if
(
st_point
.
s
()
<
s_lower
)
{
...
...
modules/planning/common/speed/st_boundary.h
浏览文件 @
7363834c
...
...
@@ -66,8 +66,6 @@ class StBoundary : public common::math::Polygon2d {
STPoint
BottomLeftPoint
()
const
;
STPoint
BottomRightPoint
()
const
;
STPoint
TopRightPoint
()
const
;
STPoint
TopLeftPoint
()
const
;
StBoundary
ExpandByS
(
const
double
s
)
const
;
StBoundary
ExpandByT
(
const
double
t
)
const
;
...
...
modules/planning/common/trajectory/discretized_trajectory.cc
浏览文件 @
7363834c
...
...
@@ -39,14 +39,6 @@ DiscretizedTrajectory::DiscretizedTrajectory(
trajectory_points_
=
std
::
move
(
trajectory_points
);
}
double
DiscretizedTrajectory
::
TimeLength
()
const
{
if
(
trajectory_points_
.
empty
())
{
return
0.0
;
}
return
trajectory_points_
.
back
().
relative_time
()
-
trajectory_points_
.
front
().
relative_time
();
}
TrajectoryPoint
DiscretizedTrajectory
::
Evaluate
(
const
double
relative_time
)
const
{
CHECK
(
!
trajectory_points_
.
empty
());
...
...
@@ -82,7 +74,7 @@ TrajectoryPoint DiscretizedTrajectory::EvaluateUsingLinearApproximation(
return
trajectory_points_
.
front
();
}
return
util
::
InterpolateUsingLinearApproximation
(
*
(
it_lower
-
1
),
*
it_lower
,
relative_time
);
relative_time
);
}
std
::
uint32_t
DiscretizedTrajectory
::
QueryNearestPoint
(
...
...
@@ -139,11 +131,6 @@ TrajectoryPoint DiscretizedTrajectory::StartPoint() const {
return
trajectory_points_
.
front
();
}
TrajectoryPoint
DiscretizedTrajectory
::
EndPoint
()
const
{
CHECK
(
!
trajectory_points_
.
empty
());
return
trajectory_points_
.
back
();
}
std
::
uint32_t
DiscretizedTrajectory
::
NumOfPoints
()
const
{
return
trajectory_points_
.
size
();
}
...
...
@@ -153,27 +140,6 @@ const std::vector<TrajectoryPoint>& DiscretizedTrajectory::trajectory_points()
return
trajectory_points_
;
}
void
DiscretizedTrajectory
::
set_trajectory_points
(
std
::
vector
<
TrajectoryPoint
>
points
)
{
trajectory_points_
=
std
::
move
(
points
);
CHECK
(
Valid
()
&&
"The input trajectory points have wrong relative time!"
);
}
bool
DiscretizedTrajectory
::
Valid
()
const
{
std
::
size_t
size
=
trajectory_points_
.
size
();
if
(
size
==
0
||
size
==
1
)
{
return
true
;
}
for
(
std
::
size_t
i
=
1
;
i
<
size
;
++
i
)
{
if
(
!
(
trajectory_points_
[
i
-
1
].
relative_time
()
<
trajectory_points_
[
i
].
relative_time
()))
{
return
false
;
}
}
return
true
;
}
void
DiscretizedTrajectory
::
Clear
()
{
trajectory_points_
.
clear
();
}
}
// namespace planning
...
...
modules/planning/common/trajectory/discretized_trajectory.h
浏览文件 @
7363834c
...
...
@@ -23,9 +23,9 @@
#include <vector>
#include "glog/logging.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/common/trajectory/trajectory.h"
#include "glog/logging.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -34,27 +34,20 @@ class DiscretizedTrajectory : public Trajectory {
public:
DiscretizedTrajectory
()
=
default
;
DiscretizedTrajectory
(
std
::
vector
<
common
::
TrajectoryPoint
>
trajectory_points
);
DiscretizedTrajectory
(
std
::
vector
<
common
::
TrajectoryPoint
>
trajectory_points
);
virtual
~
DiscretizedTrajectory
()
=
default
;
double
TimeLength
()
const
override
;
common
::
TrajectoryPoint
Evaluate
(
const
double
relative_time
)
const
override
;
common
::
TrajectoryPoint
Evaluate
(
const
double
relative_time
)
const
override
;
common
::
TrajectoryPoint
StartPoint
()
const
override
;
common
::
TrajectoryPoint
EndPoint
()
const
override
;
virtual
common
::
TrajectoryPoint
EvaluateUsingLinearApproximation
(
const
double
relative_time
)
const
;
virtual
uint32_t
QueryNearestPoint
(
const
double
relative_time
)
const
;
virtual
uint32_t
QueryNearestPoint
(
const
common
::
math
::
Vec2d
&
position
)
const
;
virtual
uint32_t
QueryNearestPoint
(
const
common
::
math
::
Vec2d
&
position
)
const
;
virtual
void
AppendTrajectoryPoint
(
const
common
::
TrajectoryPoint
&
trajectory_point
);
...
...
@@ -62,8 +55,8 @@ 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
);
}
...
...
@@ -73,12 +66,8 @@ class DiscretizedTrajectory : public Trajectory {
uint32_t
NumOfPoints
()
const
;
void
set_trajectory_points
(
std
::
vector
<
common
::
TrajectoryPoint
>
points
);
const
std
::
vector
<
common
::
TrajectoryPoint
>&
trajectory_points
()
const
;
virtual
bool
Valid
()
const
;
virtual
void
Clear
();
protected:
...
...
modules/planning/common/trajectory/trajectory.h
浏览文件 @
7363834c
...
...
@@ -32,14 +32,10 @@ class Trajectory {
virtual
~
Trajectory
()
=
default
;
virtual
double
TimeLength
()
const
=
0
;
virtual
common
::
TrajectoryPoint
Evaluate
(
const
double
relative_time
)
const
=
0
;
virtual
common
::
TrajectoryPoint
StartPoint
()
const
=
0
;
virtual
common
::
TrajectoryPoint
EndPoint
()
const
=
0
;
};
}
// namespace planning
...
...
modules/planning/tasks/dp_st_speed/dp_st_graph.cc
浏览文件 @
7363834c
...
...
@@ -44,7 +44,7 @@ using apollo::common::VehicleParam;
namespace
{
bool
CheckOverlapOnDpStGraph
(
const
std
::
vector
<
StBoundary
>
boundaries
,
bool
CheckOverlapOnDpStGraph
(
const
std
::
vector
<
StBoundary
>
&
boundaries
,
const
StGraphPoint
&
p1
,
const
StGraphPoint
&
p2
)
{
for
(
const
auto
&
boundary
:
boundaries
)
{
common
::
math
::
LineSegment2d
seg
(
p1
.
point
(),
p2
.
point
());
...
...
modules/planning/tasks/qp_spline_path/qp_frenet_frame.cc
浏览文件 @
7363834c
...
...
@@ -115,14 +115,6 @@ bool QpFrenetFrame::Init(const uint32_t num_points,
return
true
;
}
const
ReferenceLine
&
QpFrenetFrame
::
GetReferenceLine
()
const
{
return
reference_line_
;
}
double
QpFrenetFrame
::
feasible_longitudinal_upper_bound
()
const
{
return
feasible_longitudinal_upper_bound_
;
}
bool
QpFrenetFrame
::
GetMapBound
(
const
double
s
,
std
::
pair
<
double
,
double
>*
const
bound
)
const
{
return
GetBound
(
s
,
hdmap_bound_
,
bound
);
...
...
modules/planning/tasks/qp_spline_path/qp_frenet_frame.h
浏览文件 @
7363834c
...
...
@@ -33,8 +33,8 @@
#include "modules/planning/common/path_obstacle.h"
#include "modules/planning/common/speed/speed_data.h"
#include "modules/planning/reference_line/reference_line.h"
#include "modules/planning/proto/planning_internal.pb.h"
#include "modules/planning/reference_line/reference_line.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -52,10 +52,6 @@ class QpFrenetFrame {
bool
Init
(
const
uint32_t
num_points
,
apollo
::
planning_internal
::
Debug
*
planning_debug
);
const
ReferenceLine
&
GetReferenceLine
()
const
;
double
feasible_longitudinal_upper_bound
()
const
;
bool
GetMapBound
(
const
double
s
,
std
::
pair
<
double
,
double
>*
const
bound
)
const
;
...
...
modules/planning/tasks/st_graph/st_boundary_mapper.cc
浏览文件 @
7363834c
...
...
@@ -425,83 +425,6 @@ Status StBoundaryMapper::MapWithPredictionTrajectory(
return
Status
::
OK
();
}
Status
StBoundaryMapper
::
MapFollowDecision
(
const
PathObstacle
&
path_obstacle
,
const
ObjectDecisionType
&
obj_decision
,
StBoundary
*
const
boundary
)
const
{
DCHECK_NOTNULL
(
boundary
);
DCHECK
(
obj_decision
.
has_follow
())
<<
"Map obstacle without prediction trajectory is ONLY supported "
"when "
"the object decision is follow. The current object decision is: "
<<
obj_decision
.
DebugString
();
const
auto
*
obstacle
=
path_obstacle
.
obstacle
();
SLPoint
obstacle_sl_point
;
reference_line_
.
XYToSL
({
obstacle
->
Perception
().
position
().
x
(),
obstacle
->
Perception
().
position
().
y
()},
&
obstacle_sl_point
);
const
auto
&
ref_point
=
reference_line_
.
GetReferencePoint
(
obstacle
->
Perception
().
position
().
x
(),
obstacle
->
Perception
().
position
().
y
());
const
double
speed_coeff
=
std
::
cos
(
obstacle
->
Perception
().
theta
()
-
ref_point
.
heading
());
AERROR_IF
(
speed_coeff
<
0.0
)
<<
"Obstacle is moving opposite to the "
"reference line. ref_point: "
<<
ref_point
.
DebugString
()
<<
", path obstacle:
\n
"
<<
path_obstacle
.
obstacle
()
->
Perception
().
DebugString
();
const
auto
&
start_point
=
path_data_
.
discretized_path
().
StartPoint
();
SLPoint
start_sl_point
;
if
(
!
reference_line_
.
XYToSL
({
start_point
.
x
(),
start_point
.
y
()},
&
start_sl_point
))
{
std
::
string
msg
=
"Fail to get s and l of start point."
;
AERROR
<<
msg
;
return
common
::
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
}
const
double
distance_to_obstacle
=
obstacle_sl_point
.
s
()
-
obstacle
->
Perception
().
length
()
/
2.0
*
st_boundary_config_
.
expanding_coeff
()
-
start_sl_point
.
s
()
-
vehicle_param_
.
front_edge_to_center
()
-
st_boundary_config_
.
follow_buffer
();
if
(
distance_to_obstacle
>
planning_distance_
)
{
std
::
string
msg
=
"obstacle is out of range."
;
ADEBUG
<<
msg
;
return
Status
::
OK
();
}
const
auto
&
velocity
=
obstacle
->
Perception
().
velocity
();
const
double
speed
=
std
::
hypot
(
velocity
.
x
(),
velocity
.
y
())
*
speed_coeff
;
const
double
s_min_lower
=
distance_to_obstacle
;
const
double
s_min_upper
=
std
::
max
(
distance_to_obstacle
+
1.0
,
planning_distance_
);
const
double
s_max_lower
=
s_min_lower
+
planning_time_
*
speed
;
const
double
s_max_upper
=
std
::
max
(
s_max_lower
,
planning_distance_
);
std
::
vector
<
std
::
pair
<
STPoint
,
STPoint
>>
point_pairs
;
point_pairs
.
emplace_back
(
STPoint
(
s_min_lower
,
0.0
),
STPoint
(
s_min_upper
,
0.0
));
point_pairs
.
emplace_back
(
STPoint
(
s_max_lower
,
planning_time_
),
STPoint
(
s_max_upper
,
planning_time_
));
*
boundary
=
StBoundary
(
point_pairs
);
const
double
characteristic_length
=
std
::
fabs
(
obj_decision
.
follow
().
distance_s
())
+
st_boundary_config_
.
follow_buffer
();
boundary
->
SetCharacteristicLength
(
characteristic_length
);
boundary
->
SetId
(
obstacle
->
Id
());
boundary
->
SetBoundaryType
(
StBoundary
::
BoundaryType
::
FOLLOW
);
return
Status
::
OK
();
}
bool
StBoundaryMapper
::
CheckOverlap
(
const
PathPoint
&
path_point
,
const
Box2d
&
obs_box
,
const
double
buffer
)
const
{
...
...
modules/planning/tasks/st_graph/st_boundary_mapper.h
浏览文件 @
7363834c
...
...
@@ -75,10 +75,6 @@ class StBoundaryMapper {
const
PathObstacle
&
path_obstacle
,
const
ObjectDecisionType
&
obj_decision
,
StBoundary
*
const
boundary
)
const
;
apollo
::
common
::
Status
MapFollowDecision
(
const
PathObstacle
&
obstacle
,
const
ObjectDecisionType
&
obj_decision
,
StBoundary
*
const
boundary
)
const
;
void
AppendBoundary
(
const
StBoundary
&
boundary
,
std
::
vector
<
StBoundary
>*
st_boundaries
)
const
;
...
...
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