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体验新版 GitCode,发现更多精彩内容 >>
提交
78344bbf
编写于
9月 02, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
9月 02, 2017
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电子邮件补丁
差异文件
Planning: fixed broken test for obstacle stop.
上级
85f52c7b
变更
9
展开全部
隐藏空白更改
内联
并排
Showing
9 changed file
with
5147 addition
and
5147 deletion
+5147
-5147
modules/planning/conf/planning_config.pb.txt
modules/planning/conf/planning_config.pb.txt
+3
-3
modules/planning/reference_line/reference_line_smoother.cc
modules/planning/reference_line/reference_line_smoother.cc
+1
-1
modules/planning/reference_line/reference_line_smoother_test.cc
...s/planning/reference_line/reference_line_smoother_test.cc
+1
-1
modules/planning/tasks/speed_optimizer.cc
modules/planning/tasks/speed_optimizer.cc
+5
-5
modules/planning/testdata/garage_test/result_follow_0.pb.txt
modules/planning/testdata/garage_test/result_follow_0.pb.txt
+641
-641
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
...s/planning/testdata/garage_test/result_stop_dest_0.pb.txt
+1130
-1130
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
...anning/testdata/garage_test/result_stop_obstacle_0.pb.txt
+1128
-1128
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
...nning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
+1121
-1121
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
...g/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
+1117
-1117
未找到文件。
modules/planning/conf/planning_config.pb.txt
浏览文件 @
78344bbf
...
...
@@ -127,13 +127,13 @@ em_planner_config {
reference_line_smoother_config {
num_spline: 6
spline_order:
7
num_evaluated_points:
30
spline_order:
6
num_evaluated_points:
25
boundary_bound: 0.2
derivative_bound: 1.0
second_derivative_bound: 1.0
third_derivative_bound: 1.0
ref_line_weight:
1
.0
ref_line_weight:
0
.0
derivative_weight: 0.0
second_derivative_weight: 0.0
third_derivative_weight: 100.0
...
...
modules/planning/reference_line/reference_line_smoother.cc
浏览文件 @
78344bbf
...
...
@@ -172,7 +172,7 @@ bool ReferenceLineSmoother::ApplyConstraint(
std
::
vector
<
double
>
lateral_bound
;
std
::
vector
<
common
::
math
::
Vec2d
>
xy_points
;
for
(
std
::
uint32_t
i
=
0
;
i
<
path_points
.
size
();
++
i
)
{
const
double
kBoundCoeff
=
0.
2
;
const
double
kBoundCoeff
=
0.
5
;
headings
.
push_back
(
path_points
[
i
].
theta
());
longitidinal_bound
.
push_back
(
kBoundCoeff
*
smoother_config_
.
boundary_bound
());
...
...
modules/planning/reference_line/reference_line_smoother_test.cc
浏览文件 @
78344bbf
...
...
@@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) {
ReferenceLine
smoothed_reference_line
;
EXPECT_FLOAT_EQ
(
153.87421
,
reference_line_
->
Length
());
EXPECT_TRUE
(
smoother_
.
Smooth
(
*
reference_line_
,
&
smoothed_reference_line
));
EXPECT_FLOAT_EQ
(
153.
6006
,
smoothed_reference_line
.
Length
());
EXPECT_FLOAT_EQ
(
153.
52477
,
smoothed_reference_line
.
Length
());
}
}
// namespace planning
...
...
modules/planning/tasks/speed_optimizer.cc
浏览文件 @
78344bbf
...
...
@@ -58,10 +58,10 @@ void SpeedOptimizer::RecordSTGraphDebug(
return
;
}
//auto debug = frame_->MutableADCTrajectory()->mutable_debug();
//auto st_graph_debug = debug->mutable_planning_data()->add_st_graph();
//
auto debug = frame_->MutableADCTrajectory()->mutable_debug();
//
auto st_graph_debug = debug->mutable_planning_data()->add_st_graph();
st_graph_debug
->
set_name
(
Name
());
for
(
const
auto
&
boundary
:
boundaries
)
{
for
(
const
auto
boundary
:
boundaries
)
{
auto
boundary_debug
=
st_graph_debug
->
add_boundary
();
boundary_debug
->
set_name
(
boundary
.
id
());
switch
(
boundary
.
boundary_type
())
{
...
...
@@ -92,14 +92,14 @@ void SpeedOptimizer::RecordSTGraphDebug(
break
;
}
for
(
const
auto
&
point
:
boundary
.
points
())
{
for
(
const
auto
point
:
boundary
.
points
())
{
auto
point_debug
=
boundary_debug
->
add_point
();
point_debug
->
set_t
(
point
.
x
());
point_debug
->
set_s
(
point
.
y
());
}
}
for
(
const
auto
&
point
:
speed_limits
.
speed_limit_points
())
{
for
(
const
auto
point
:
speed_limits
.
speed_limit_points
())
{
common
::
SpeedPoint
speed_point
;
speed_point
.
set_s
(
point
.
first
);
speed_point
.
set_v
(
point
.
second
);
...
...
modules/planning/testdata/garage_test/result_follow_0.pb.txt
浏览文件 @
78344bbf
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
浏览文件 @
78344bbf
此差异已折叠。
点击以展开。
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
浏览文件 @
78344bbf
此差异已折叠。
点击以展开。
modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
浏览文件 @
78344bbf
此差异已折叠。
点击以展开。
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
浏览文件 @
78344bbf
此差异已折叠。
点击以展开。
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