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体验新版 GitCode,发现更多精彩内容 >>
提交
832191f0
编写于
8月 02, 2017
作者:
D
Dong Li
提交者:
Capri2014
8月 02, 2017
浏览文件
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电子邮件补丁
差异文件
replace DataCenter with FrameHistory (#334)
上级
162feff4
变更
21
隐藏空白更改
内联
并排
Showing
21 changed file
with
17 addition
and
63 deletion
+17
-63
modules/planning/BUILD
modules/planning/BUILD
+0
-1
modules/planning/common/BUILD
modules/planning/common/BUILD
+3
-3
modules/planning/common/data_center.h
modules/planning/common/data_center.h
+0
-40
modules/planning/common/frame.cc
modules/planning/common/frame.cc
+3
-0
modules/planning/common/frame.h
modules/planning/common/frame.h
+6
-0
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+1
-2
modules/planning/common/planning_gflags.h
modules/planning/common/planning_gflags.h
+1
-1
modules/planning/integration_tests/BUILD
modules/planning/integration_tests/BUILD
+0
-1
modules/planning/optimizer/BUILD
modules/planning/optimizer/BUILD
+0
-2
modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc
...les/planning/optimizer/dp_poly_path/dp_road_graph_test.cc
+0
-1
modules/planning/optimizer/dp_poly_path/path_sampler_test.cc
modules/planning/optimizer/dp_poly_path/path_sampler_test.cc
+0
-1
modules/planning/optimizer/dp_st_speed/BUILD
modules/planning/optimizer/dp_st_speed/BUILD
+1
-2
modules/planning/optimizer/dp_st_speed/dp_st_cost.cc
modules/planning/optimizer/dp_st_speed/dp_st_cost.cc
+0
-1
modules/planning/optimizer/dp_st_speed/dp_st_graph.cc
modules/planning/optimizer/dp_st_speed/dp_st_graph.cc
+0
-1
modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc
modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc
+0
-1
modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc
...s/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc
+0
-1
modules/planning/optimizer/qp_spline_path/BUILD
modules/planning/optimizer/qp_spline_path/BUILD
+0
-1
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
...imizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
+0
-1
modules/planning/optimizer/st_graph/BUILD
modules/planning/optimizer/st_graph/BUILD
+1
-1
modules/planning/optimizer/st_graph/st_boundary_mapper_impl.cc
...es/planning/optimizer/st_graph/st_boundary_mapper_impl.cc
+1
-1
modules/planning/planning.cc
modules/planning/planning.cc
+0
-1
未找到文件。
modules/planning/BUILD
浏览文件 @
832191f0
...
...
@@ -19,7 +19,6 @@ cc_library(
"//modules/common/vehicle_state"
,
"//modules/decision/proto:decision_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/planning/common:data_center"
,
"//modules/planning/common:planning_common"
,
"//modules/planning/planner/em:em_planner"
,
"//modules/planning/planner/rtk:rtk_planner"
,
...
...
modules/planning/common/BUILD
浏览文件 @
832191f0
...
...
@@ -102,6 +102,7 @@ cc_library(
],
deps
=
[
":indexed_list"
,
":indexed_queue"
,
"//modules/common:log"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/common/vehicle_state"
,
...
...
@@ -141,9 +142,9 @@ cc_library(
)
cc_library
(
name
=
"
data_center
"
,
name
=
"
frame_history
"
,
hdrs
=
[
"
data_center
.h"
,
"
frame_hisotry
.h"
,
],
deps
=
[
":frame"
,
...
...
@@ -155,7 +156,6 @@ cc_library(
cc_library
(
name
=
"planning_common"
,
deps
=
[
":data_center"
,
":frame"
,
":planning_gflags"
,
":speed_limit"
,
...
...
modules/planning/common/data_center.h
已删除
100644 → 0
浏览文件 @
162feff4
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file:
**/
#ifndef MODULES_PLANNING_COMMON_DATA_CENTER_H_
#define MODULES_PLANNING_COMMON_DATA_CENTER_H_
#include <list>
#include <memory>
#include <unordered_map>
#include "modules/common/macro.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/indexed_queue.h"
namespace
apollo
{
namespace
planning
{
using
DataCenter
=
IndexedQueue
<
uint32_t
,
Frame
>
;
}
// namespace planning
}
// namespace apollo
#endif // MODULES_PLANNING_COMMON_DATA_CENTER_H_
modules/planning/common/frame.cc
浏览文件 @
832191f0
...
...
@@ -34,6 +34,9 @@ const hdmap::PncMap *Frame::pnc_map_ = nullptr;
void
Frame
::
SetMap
(
hdmap
::
PncMap
*
pnc_map
)
{
pnc_map_
=
pnc_map
;
}
FrameHistory
::
FrameHistory
()
:
IndexedQueue
<
uint32_t
,
Frame
>
(
FLAGS_max_history_frame_num
)
{}
Frame
::
Frame
(
const
uint32_t
sequence_num
)
:
sequence_num_
(
sequence_num
)
{}
void
Frame
::
SetVehicleInitPose
(
const
localization
::
Pose
&
pose
)
{
...
...
modules/planning/common/frame.h
浏览文件 @
832191f0
...
...
@@ -31,6 +31,7 @@
#include "modules/map/pnc_map/pnc_map.h"
#include "modules/map/proto/routing.pb.h"
#include "modules/planning/common/indexed_list.h"
#include "modules/planning/common/indexed_queue.h"
#include "modules/planning/common/obstacle.h"
#include "modules/planning/common/planning_data.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"
...
...
@@ -86,6 +87,11 @@ class Frame {
static
const
hdmap
::
PncMap
*
pnc_map_
;
};
class
FrameHistory
:
public
IndexedQueue
<
uint32_t
,
Frame
>
{
private:
DECLARE_SINGLETON
(
FrameHistory
);
};
}
// namespace planning
}
// namespace apollo
...
...
modules/planning/common/planning_gflags.cc
浏览文件 @
832191f0
...
...
@@ -53,8 +53,7 @@ DEFINE_double(
DEFINE_double
(
cycle_duration_in_sec
,
0.002
,
"# of seconds per planning cycle."
);
DEFINE_double
(
maximal_delay_sec
,
0.005
,
"# of seconds for delay."
);
DEFINE_int32
(
max_history_result
,
10
,
"The maximal number of result in history."
);
DEFINE_int32
(
max_history_frame_num
,
5
,
"The maximum history frame number"
);
DEFINE_bool
(
use_stitch
,
true
,
"Use trajectory stitch if possible."
);
DEFINE_double
(
forward_predict_time
,
0.2
,
...
...
modules/planning/common/planning_gflags.h
浏览文件 @
832191f0
...
...
@@ -32,7 +32,7 @@ DECLARE_double(look_forward_distance);
DECLARE_double
(
cycle_duration_in_sec
);
DECLARE_double
(
maximal_delay_sec
);
DECLARE_int32
(
max_history_
result
);
DECLARE_int32
(
max_history_
frame_num
);
// parameters for trajectory stitching and reinit planning starting point.
DECLARE_bool
(
use_stitch
);
...
...
modules/planning/integration_tests/BUILD
浏览文件 @
832191f0
...
...
@@ -20,7 +20,6 @@ cc_library(
"//modules/common/util"
,
"//modules/common/vehicle_state"
,
"//modules/planning:planning_impl"
,
"//modules/planning/common:data_center"
,
"//modules/planning/proto:dp_poly_path_config_proto"
,
"//modules/planning/proto:dp_st_speed_config_proto"
,
"@gtest//:gtest"
,
...
...
modules/planning/optimizer/BUILD
浏览文件 @
832191f0
...
...
@@ -27,7 +27,6 @@ cc_library(
deps
=
[
":optimizer"
,
"//modules/common/status"
,
"//modules/planning/common:data_center"
,
"//modules/planning/common:decision_data"
,
"//modules/planning/common:planning_data"
,
"//modules/planning/common/path:path_data"
,
...
...
@@ -47,7 +46,6 @@ cc_library(
deps
=
[
":optimizer"
,
"//modules/common/status"
,
"//modules/planning/common:data_center"
,
"//modules/planning/common:decision_data"
,
"//modules/planning/common:planning_data"
,
"//modules/planning/common/path:path_data"
,
...
...
modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc
浏览文件 @
832191f0
...
...
@@ -28,7 +28,6 @@
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/log.h"
#include "modules/common/util/file.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/optimizer/dp_poly_path/dp_road_graph.h"
#include "modules/planning/optimizer/dp_poly_path/path_sampler.h"
...
...
modules/planning/optimizer/dp_poly_path/path_sampler_test.cc
浏览文件 @
832191f0
...
...
@@ -24,7 +24,6 @@
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/log.h"
#include "modules/common/util/file.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/optimizer/dp_poly_path/path_sampler.h"
#include "modules/planning/integration_tests/planning_test_base.h"
...
...
modules/planning/optimizer/dp_st_speed/BUILD
浏览文件 @
832191f0
...
...
@@ -12,7 +12,7 @@ cc_library(
],
deps
=
[
"//modules/common/proto:pnc_point_proto"
,
"//modules/planning/common:
data_center
"
,
"//modules/planning/common:
frame
"
,
"//modules/planning/math:double"
,
"//modules/planning/optimizer/st_graph:st_graph_boundary"
,
"//modules/planning/proto:dp_st_speed_config_proto"
,
...
...
@@ -33,7 +33,6 @@ cc_library(
"//modules/common/proto:common_proto"
,
"//modules/common/proto:pnc_point_proto"
,
"//modules/common/status"
,
"//modules/planning/common:data_center"
,
"//modules/planning/common:decision_data"
,
"//modules/planning/common/speed:speed_data"
,
"//modules/planning/optimizer/st_graph:st_graph_data"
,
...
...
modules/planning/optimizer/dp_st_speed/dp_st_cost.cc
浏览文件 @
832191f0
...
...
@@ -22,7 +22,6 @@
#include <limits>
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/speed/st_point.h"
#include "modules/planning/math/double.h"
...
...
modules/planning/optimizer/dp_st_speed/dp_st_graph.cc
浏览文件 @
832191f0
...
...
@@ -26,7 +26,6 @@
#include "modules/common/log.h"
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/math/double.h"
namespace
apollo
{
...
...
modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc
浏览文件 @
832191f0
...
...
@@ -28,7 +28,6 @@
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/log.h"
#include "modules/common/util/file.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/optimizer/dp_st_speed/dp_st_graph.h"
#include "modules/planning/integration_tests/planning_test_base.h"
...
...
modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc
浏览文件 @
832191f0
...
...
@@ -26,7 +26,6 @@
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/vehicle_state/vehicle_state.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/optimizer/dp_st_speed/dp_st_graph.h"
#include "modules/planning/optimizer/st_graph/st_graph_data.h"
...
...
modules/planning/optimizer/qp_spline_path/BUILD
浏览文件 @
832191f0
...
...
@@ -23,7 +23,6 @@ cc_library(
"//modules/common/proto:pnc_point_proto"
,
"//modules/common/util"
,
"//modules/map/proto:map_proto"
,
"//modules/planning/common:data_center"
,
"//modules/planning/common:decision_data"
,
"//modules/planning/common:obstacle"
,
"//modules/planning/common:planning_data"
,
...
...
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
浏览文件 @
832191f0
...
...
@@ -26,7 +26,6 @@
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/util/file.h"
#include "modules/common/vehicle_state/vehicle_state.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.h"
#include "modules/planning/optimizer/st_graph/st_graph_data.h"
...
...
modules/planning/optimizer/st_graph/BUILD
浏览文件 @
832191f0
...
...
@@ -64,6 +64,7 @@ cc_library(
"//modules/map/pnc_map"
,
"//modules/map/proto:map_proto"
,
"//modules/planning/common:decision_data"
,
"//modules/planning/common:frame"
,
"//modules/planning/common:obstacle"
,
"//modules/planning/common:planning_gflags"
,
"//modules/planning/common:planning_object"
,
...
...
@@ -91,7 +92,6 @@ cc_library(
"//modules/common:log"
,
"//modules/common/util"
,
"//modules/common/vehicle_state"
,
"//modules/planning/common:data_center"
,
"//modules/planning/optimizer/st_graph:st_boundary_mapper"
,
],
)
...
...
modules/planning/optimizer/st_graph/st_boundary_mapper_impl.cc
浏览文件 @
832191f0
...
...
@@ -33,7 +33,7 @@
#include "modules/common/util/string_util.h"
#include "modules/common/util/util.h"
#include "modules/common/vehicle_state/vehicle_state.h"
#include "modules/planning/common/
data_center
.h"
#include "modules/planning/common/
frame
.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/math/double.h"
...
...
modules/planning/planning.cc
浏览文件 @
832191f0
...
...
@@ -23,7 +23,6 @@
#include "modules/common/time/time.h"
#include "modules/common/vehicle_state/vehicle_state.h"
#include "modules/common/vehicle_state/vehicle_state.h"
#include "modules/planning/common/data_center.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/planner/em/em_planner.h"
#include "modules/planning/planner/rtk/rtk_replay_planner.h"
...
...
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