From 7678c0c80fa64459f61aceec1b84865f71aaec77 Mon Sep 17 00:00:00 2001 From: Dong Li Date: Thu, 24 Aug 2017 16:17:38 -0700 Subject: [PATCH] planning: move st_boundary to common/speed --- modules/planning/common/BUILD | 1 + modules/planning/common/path_obstacle.cc | 7 ++++ modules/planning/common/path_obstacle.h | 7 ++-- modules/planning/common/speed/BUILD | 30 ++++++++++++++++ .../st_graph => common/speed}/st_boundary.cc | 2 +- .../st_graph => common/speed}/st_boundary.h | 0 .../speed}/st_boundary_test.cc | 2 +- modules/planning/tasks/BUILD | 2 +- modules/planning/tasks/dp_st_speed/BUILD | 2 +- .../planning/tasks/dp_st_speed/dp_st_cost.h | 2 +- .../qp_spline_st_speed/qp_spline_st_graph.h | 2 +- modules/planning/tasks/speed_optimizer.h | 2 +- modules/planning/tasks/st_graph/BUILD | 36 ++----------------- .../tasks/st_graph/st_boundary_mapper.h | 2 +- .../planning/tasks/st_graph/st_graph_data.h | 2 +- .../tasks/st_graph/st_graph_data_test.cc | 2 +- 16 files changed, 55 insertions(+), 46 deletions(-) rename modules/planning/{tasks/st_graph => common/speed}/st_boundary.cc (98%) rename modules/planning/{tasks/st_graph => common/speed}/st_boundary.h (100%) rename modules/planning/{tasks/st_graph => common/speed}/st_boundary_test.cc (97%) diff --git a/modules/planning/common/BUILD b/modules/planning/common/BUILD index ec572f8174..0f02c56eee 100644 --- a/modules/planning/common/BUILD +++ b/modules/planning/common/BUILD @@ -98,6 +98,7 @@ cc_library( deps = [ ":indexed_list", ":obstacle", + "//modules/planning/common/speed:st_boundary", "//modules/planning/proto:planning_proto", "//modules/planning/reference_line", ], diff --git a/modules/planning/common/path_obstacle.cc b/modules/planning/common/path_obstacle.cc index 8c6aeee705..b366f10211 100644 --- a/modules/planning/common/path_obstacle.cc +++ b/modules/planning/common/path_obstacle.cc @@ -55,6 +55,13 @@ bool PathObstacle::Init(const ReferenceLine& reference_line) { AERROR << "Failed to get sl boundary for obstacle: " << id_; return false; } + if (!BuildStBoundary(reference_line, obstacle_)) { + } + return true; +} + +bool PathObstacle::BuildStBoundary(const ReferenceLine& reference_line, + const Obstacle* obstacle) { return true; } diff --git a/modules/planning/common/path_obstacle.h b/modules/planning/common/path_obstacle.h index 9556d7dbc9..e073882e2b 100644 --- a/modules/planning/common/path_obstacle.h +++ b/modules/planning/common/path_obstacle.h @@ -37,6 +37,7 @@ #include "modules/common/math/vec2d.h" #include "modules/planning/common/indexed_list.h" #include "modules/planning/common/obstacle.h" +#include "modules/planning/common/speed/st_boundary.h" #include "modules/planning/reference_line/reference_line.h" namespace apollo { @@ -123,14 +124,16 @@ class PathObstacle { static ObjectDecisionType MergeLateralDecision(const ObjectDecisionType& lhs, const ObjectDecisionType& rhs); + bool BuildStBoundary(const ReferenceLine& reference_line, + const Obstacle* obstacle); + std::string id_; const Obstacle* obstacle_ = nullptr; std::vector decisions_; std::vector decider_tags_; SLBoundary perception_sl_boundary_; - // TODO(zhangliangliang): add st_boundary_ here. - // StBoundary st_boundary_; + StBoundary st_boundary_; ObjectDecisionType lateral_decision_; ObjectDecisionType longitudinal_decision_; diff --git a/modules/planning/common/speed/BUILD b/modules/planning/common/speed/BUILD index 781606c86e..3b427bf9ca 100644 --- a/modules/planning/common/speed/BUILD +++ b/modules/planning/common/speed/BUILD @@ -17,6 +17,36 @@ cc_library( ], ) +cc_library( + name = "st_boundary", + srcs = [ + "st_boundary.cc", + ], + hdrs = [ + "st_boundary.h", + ], + deps = [ + ":st_point", + "//modules/common:log", + "//modules/planning/proto:planning_proto", + ], +) + +cc_test( + name = "st_boundary_test", + size = "small", + srcs = [ + "st_boundary_test.cc", + ], + deps = [ + ":st_boundary", + "//modules/common:log", + "//modules/common/time", + "//modules/common/util", + "@gtest//:main", + ], +) + cc_library( name = "speed_data", srcs = [ diff --git a/modules/planning/tasks/st_graph/st_boundary.cc b/modules/planning/common/speed/st_boundary.cc similarity index 98% rename from modules/planning/tasks/st_graph/st_boundary.cc rename to modules/planning/common/speed/st_boundary.cc index d8273c94c5..2cb425397a 100644 --- a/modules/planning/tasks/st_graph/st_boundary.cc +++ b/modules/planning/common/speed/st_boundary.cc @@ -18,7 +18,7 @@ * @file **/ -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" #include diff --git a/modules/planning/tasks/st_graph/st_boundary.h b/modules/planning/common/speed/st_boundary.h similarity index 100% rename from modules/planning/tasks/st_graph/st_boundary.h rename to modules/planning/common/speed/st_boundary.h diff --git a/modules/planning/tasks/st_graph/st_boundary_test.cc b/modules/planning/common/speed/st_boundary_test.cc similarity index 97% rename from modules/planning/tasks/st_graph/st_boundary_test.cc rename to modules/planning/common/speed/st_boundary_test.cc index 6fc7f2a01b..cc522d28cc 100644 --- a/modules/planning/tasks/st_graph/st_boundary_test.cc +++ b/modules/planning/common/speed/st_boundary_test.cc @@ -14,7 +14,7 @@ * limitations under the License. *****************************************************************************/ -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" #include #include diff --git a/modules/planning/tasks/BUILD b/modules/planning/tasks/BUILD index 45b2cd06c6..514bd8e44d 100644 --- a/modules/planning/tasks/BUILD +++ b/modules/planning/tasks/BUILD @@ -55,7 +55,7 @@ cc_library( "//modules/planning/common:speed_limit", "//modules/planning/common/path:path_data", "//modules/planning/common/speed:speed_data", - "//modules/planning/tasks/st_graph:st_boundary", + "//modules/planning/common/speed:st_boundary", "@eigen//:eigen", ], ) diff --git a/modules/planning/tasks/dp_st_speed/BUILD b/modules/planning/tasks/dp_st_speed/BUILD index 6fb21a3b75..56f53106e0 100644 --- a/modules/planning/tasks/dp_st_speed/BUILD +++ b/modules/planning/tasks/dp_st_speed/BUILD @@ -27,9 +27,9 @@ cc_library( deps = [ "//modules/common/proto:pnc_point_proto", "//modules/planning/common:frame", + "//modules/planning/common/speed:st_boundary", "//modules/planning/math:double", "//modules/planning/proto:dp_st_speed_config_proto", - "//modules/planning/tasks/st_graph:st_boundary", ], ) diff --git a/modules/planning/tasks/dp_st_speed/dp_st_cost.h b/modules/planning/tasks/dp_st_speed/dp_st_cost.h index 762fd6c235..2f1be8878d 100644 --- a/modules/planning/tasks/dp_st_speed/dp_st_cost.h +++ b/modules/planning/tasks/dp_st_speed/dp_st_cost.h @@ -27,7 +27,7 @@ #include "modules/planning/proto/dp_st_speed_config.pb.h" #include "modules/planning/common/speed/st_point.h" -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" namespace apollo { namespace planning { diff --git a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h index 0c028e9a82..df8ef15c6a 100644 --- a/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h +++ b/modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h @@ -34,7 +34,7 @@ #include "modules/planning/common/planning_util.h" #include "modules/planning/common/speed/speed_data.h" #include "modules/planning/math/smoothing_spline/spline_1d_generator.h" -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" #include "modules/planning/tasks/st_graph/st_graph_data.h" namespace apollo { diff --git a/modules/planning/tasks/speed_optimizer.h b/modules/planning/tasks/speed_optimizer.h index c47e539ae6..9103a5ef92 100644 --- a/modules/planning/tasks/speed_optimizer.h +++ b/modules/planning/tasks/speed_optimizer.h @@ -27,7 +27,7 @@ #include "modules/common/status/status.h" #include "modules/planning/common/speed/speed_data.h" #include "modules/planning/common/speed_limit.h" -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" #include "modules/planning/tasks/task.h" namespace apollo { diff --git a/modules/planning/tasks/st_graph/BUILD b/modules/planning/tasks/st_graph/BUILD index 67bed22483..3560cdd307 100644 --- a/modules/planning/tasks/st_graph/BUILD +++ b/modules/planning/tasks/st_graph/BUILD @@ -2,22 +2,6 @@ load("//tools:cpplint.bzl", "cpplint") package(default_visibility = ["//visibility:public"]) -cc_library( - name = "st_boundary", - srcs = [ - "st_boundary.cc", - ], - hdrs = [ - "st_boundary.h", - ], - deps = [ - "//modules/common:log", - "//modules/common/math", - "//modules/planning/common/speed:st_point", - "//modules/planning/proto:planning_proto", - ], -) - cc_library( name = "st_graph_data", srcs = [ @@ -27,9 +11,9 @@ cc_library( "st_graph_data.h", ], deps = [ - ":st_boundary", "//modules/planning/common:planning_gflags", "//modules/planning/common:speed_limit", + "//modules/planning/common/speed:st_boundary", ], ) @@ -42,7 +26,6 @@ cc_library( "st_boundary_mapper.h", ], deps = [ - ":st_boundary", "//modules/common/configs:vehicle_config_helper", "//modules/common/configs/proto:vehicle_config_proto", "//modules/common/proto:pnc_point_proto", @@ -57,6 +40,7 @@ cc_library( "//modules/planning/common/path:discretized_path", "//modules/planning/common/path:frenet_frame_path", "//modules/planning/common/path:path_data", + "//modules/planning/common/speed:st_boundary", "//modules/planning/common/trajectory:discretized_trajectory", "//modules/planning/math:double", "//modules/planning/proto:planning_proto", @@ -83,21 +67,6 @@ cc_test( ], ) -cc_test( - name = "st_boundary_test", - size = "small", - srcs = [ - "st_boundary_test.cc", - ], - deps = [ - ":st_boundary", - "//modules/common:log", - "//modules/common/time", - "//modules/common/util", - "@gtest//:main", - ], -) - cc_test( name = "st_graph_data_test", size = "small", @@ -105,7 +74,6 @@ cc_test( "st_graph_data_test.cc", ], deps = [ - ":st_boundary", ":st_graph_data", "//modules/common:log", "//modules/common/time", diff --git a/modules/planning/tasks/st_graph/st_boundary_mapper.h b/modules/planning/tasks/st_graph/st_boundary_mapper.h index 6c34dfca18..8e669e4fae 100644 --- a/modules/planning/tasks/st_graph/st_boundary_mapper.h +++ b/modules/planning/tasks/st_graph/st_boundary_mapper.h @@ -31,7 +31,7 @@ #include "modules/planning/common/path_decision.h" #include "modules/planning/common/speed_limit.h" #include "modules/planning/reference_line/reference_line.h" -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" namespace apollo { namespace planning { diff --git a/modules/planning/tasks/st_graph/st_graph_data.h b/modules/planning/tasks/st_graph/st_graph_data.h index 71f4ba83d1..fdcecbcb07 100644 --- a/modules/planning/tasks/st_graph/st_graph_data.h +++ b/modules/planning/tasks/st_graph/st_graph_data.h @@ -27,7 +27,7 @@ #include "modules/common/proto/pnc_point.pb.h" #include "modules/planning/common/speed_limit.h" -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" namespace apollo { namespace planning { diff --git a/modules/planning/tasks/st_graph/st_graph_data_test.cc b/modules/planning/tasks/st_graph/st_graph_data_test.cc index a6bbb520bc..04cb56a93c 100644 --- a/modules/planning/tasks/st_graph/st_graph_data_test.cc +++ b/modules/planning/tasks/st_graph/st_graph_data_test.cc @@ -23,7 +23,7 @@ #include "gtest/gtest.h" #include "modules/common/log.h" -#include "modules/planning/tasks/st_graph/st_boundary.h" +#include "modules/planning/common/speed/st_boundary.h" namespace apollo { namespace planning { -- GitLab