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76a178a0
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apollo
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体验新版 GitCode,发现更多精彩内容 >>
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76a178a0
编写于
8月 02, 2017
作者:
Y
Yajia Zhang
提交者:
Kecheng Xu
8月 02, 2017
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电子邮件补丁
差异文件
Set planning_init_point explicitly in planning interface
上级
d7632e49
变更
8
隐藏空白更改
内联
并排
Showing
8 changed file
with
16 addition
and
16 deletion
+16
-16
modules/planning/planner/em/em_planner.cc
modules/planning/planner/em/em_planner.cc
+2
-2
modules/planning/planner/em/em_planner.h
modules/planning/planner/em/em_planner.h
+2
-1
modules/planning/planner/planner.h
modules/planning/planner/planner.h
+2
-1
modules/planning/planner/rtk/rtk_replay_planner.cc
modules/planning/planner/rtk/rtk_replay_planner.cc
+2
-3
modules/planning/planner/rtk/rtk_replay_planner.h
modules/planning/planner/rtk/rtk_replay_planner.h
+2
-1
modules/planning/planner/rtk/rtk_replay_planner_test.cc
modules/planning/planner/rtk/rtk_replay_planner_test.cc
+2
-6
modules/planning/planning.cc
modules/planning/planning.cc
+2
-1
modules/planning/planning.h
modules/planning/planning.h
+2
-1
未找到文件。
modules/planning/planner/em/em_planner.cc
浏览文件 @
76a178a0
...
...
@@ -102,14 +102,14 @@ void EMPlanner::RecordDebugInfo(const std::string& name,
em_planner_debugger_
.
speed_profiles_
[
name
].
second
=
time_diff_ms
;
}
Status
EMPlanner
::
Plan
(
Frame
*
frame
,
Status
EMPlanner
::
Plan
(
const
TrajectoryPoint
&
planning_start_point
,
Frame
*
frame
,
PublishableTrajectory
*
ptr_publishable_trajectory
)
{
if
(
!
frame
)
{
AERROR
<<
"Frame is empty in EMPlanner"
;
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
"Frame is null"
);
}
const
auto
&
planning_start_point
=
frame
->
PlanningStartPoint
();
ADEBUG
<<
"planning start point:"
<<
planning_start_point
.
DebugString
();
auto
*
planning_data
=
frame
->
mutable_planning_data
();
...
...
modules/planning/planner/em/em_planner.h
浏览文件 @
76a178a0
...
...
@@ -65,7 +65,8 @@ class EMPlanner : public Planner {
* @param trajectory_pb The computed trajectory
* @return OK if planning succeeds; error otherwise.
*/
apollo
::
common
::
Status
Plan
(
Frame
*
frame
,
apollo
::
common
::
Status
Plan
(
const
TrajectoryPoint
&
planning_init_point
,
Frame
*
frame
,
PublishableTrajectory
*
trajectory_pb
)
override
;
EMPlannerDebugger
&
em_planner_debugger
();
...
...
modules/planning/planner/planner.h
浏览文件 @
76a178a0
...
...
@@ -63,7 +63,8 @@ class Planner {
* @param trajectory_pb The computed trajectory
* @return OK if planning succeeds; error otherwise.
*/
virtual
apollo
::
common
::
Status
Plan
(
Frame
*
frame
,
virtual
apollo
::
common
::
Status
Plan
(
const
TrajectoryPoint
&
planning_init_point
,
Frame
*
frame
,
PublishableTrajectory
*
trajectory_pb
)
=
0
;
};
...
...
modules/planning/planner/rtk/rtk_replay_planner.cc
浏览文件 @
76a178a0
...
...
@@ -36,7 +36,7 @@ RTKReplayPlanner::RTKReplayPlanner() {
Status
RTKReplayPlanner
::
Init
(
const
PlanningConfig
&
)
{
return
Status
::
OK
();
}
Status
RTKReplayPlanner
::
Plan
(
Status
RTKReplayPlanner
::
Plan
(
const
TrajectoryPoint
&
planning_init_point
,
Frame
*
frame
,
PublishableTrajectory
*
ptr_publishable_trajectory
)
{
if
(
complete_rtk_trajectory_
.
empty
()
||
complete_rtk_trajectory_
.
size
()
<
2
)
{
std
::
string
msg
(
...
...
@@ -46,10 +46,9 @@ Status RTKReplayPlanner::Plan(
AERROR
<<
msg
;
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
}
const
TrajectoryPoint
&
start_point
=
frame
->
PlanningStartPoint
();
std
::
uint32_t
matched_index
=
QueryPositionMatchedPoint
(
star
t_point
,
complete_rtk_trajectory_
);
QueryPositionMatchedPoint
(
planning_ini
t_point
,
complete_rtk_trajectory_
);
std
::
uint32_t
forward_buffer
=
FLAGS_rtk_trajectory_forward
;
std
::
uint32_t
end_index
=
...
...
modules/planning/planner/rtk/rtk_replay_planner.h
浏览文件 @
76a178a0
...
...
@@ -58,7 +58,8 @@ class RTKReplayPlanner : public Planner {
* @param trajectory_pb The computed trajectory
* @return OK if planning succeeds; error otherwise.
*/
apollo
::
common
::
Status
Plan
(
Frame
*
frame
,
apollo
::
common
::
Status
Plan
(
const
TrajectoryPoint
&
planning_init_point
,
Frame
*
frame
,
PublishableTrajectory
*
trajectory_pb
)
override
;
/**
...
...
modules/planning/planner/rtk/rtk_replay_planner_test.cc
浏览文件 @
76a178a0
...
...
@@ -37,9 +37,7 @@ TEST_F(RTKReplayPlannerTest, ComputeTrajectory) {
start_point
.
mutable_path_point
()
->
set_y
(
4140674.76063
);
PublishableTrajectory
trajectory
;
Frame
frame
(
1
);
frame
.
SetPlanningStartPoint
(
start_point
);
auto
status
=
planner
.
Plan
(
&
frame
,
&
trajectory
);
auto
status
=
planner
.
Plan
(
start_point
,
nullptr
,
&
trajectory
);
EXPECT_TRUE
(
status
.
ok
());
EXPECT_TRUE
(
!
trajectory
.
trajectory_points
().
empty
());
...
...
@@ -65,9 +63,7 @@ TEST_F(RTKReplayPlannerTest, ErrorTest) {
start_point
.
mutable_path_point
()
->
set_x
(
586385.782842
);
start_point
.
mutable_path_point
()
->
set_y
(
4140674.76063
);
PublishableTrajectory
trajectory
;
Frame
frame
(
1
);
frame
.
SetPlanningStartPoint
(
start_point
);
EXPECT_TRUE
(
!
(
planner_with_error_csv
.
Plan
(
&
frame
,
&
trajectory
)).
ok
());
EXPECT_TRUE
(
!
(
planner_with_error_csv
.
Plan
(
start_point
,
nullptr
,
&
trajectory
)).
ok
());
}
}
// namespace planning
...
...
modules/planning/planning.cc
浏览文件 @
76a178a0
...
...
@@ -247,7 +247,8 @@ bool Planning::Plan(const bool is_on_auto_mode, const double publish_time,
frame_
->
SetPlanningStartPoint
(
stitching_trajectory
.
back
());
PublishableTrajectory
publishable_trajectory
;
auto
status
=
planner_
->
Plan
(
frame_
.
get
(),
&
publishable_trajectory
);
auto
status
=
planner_
->
Plan
(
stitching_trajectory
.
back
(),
frame_
.
get
(),
&
publishable_trajectory
);
if
(
FLAGS_enable_record_debug
)
{
trajectory_pb
->
mutable_debug
()
...
...
modules/planning/planning.h
浏览文件 @
76a178a0
...
...
@@ -76,7 +76,8 @@ class Planning : public apollo::common::ApolloApp {
* @param is_on_auto_mode whether the current system is on auto-driving mode
* @param trajectory_pb the computed planning trajectory
*/
bool
Plan
(
const
bool
is_on_auto_mode
,
const
double
publish_time
,
bool
Plan
(
const
bool
is_on_auto_mode
,
const
double
publish_time
,
ADCTrajectory
*
trajectory_pb
);
const
Frame
*
GetFrame
()
const
;
...
...
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