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体验新版 GitCode,发现更多精彩内容 >>
提交
86f78c18
编写于
8月 16, 2017
作者:
Z
Zhang Liangliang
提交者:
Dong Li
8月 16, 2017
浏览文件
操作
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电子邮件补丁
差异文件
Planning: fixed a mapping bug for stop decisions in st_boundary_mapper.
上级
d6cc3ca4
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
14 addition
and
20 deletion
+14
-20
modules/planning/common/path/frenet_frame_path.cc
modules/planning/common/path/frenet_frame_path.cc
+5
-14
modules/planning/common/path/frenet_frame_path.h
modules/planning/common/path/frenet_frame_path.h
+0
-1
modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc
modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc
+5
-5
modules/planning/optimizer/st_graph/st_boundary_mapper.cc
modules/planning/optimizer/st_graph/st_boundary_mapper.cc
+4
-0
未找到文件。
modules/planning/common/path/frenet_frame_path.cc
浏览文件 @
86f78c18
...
...
@@ -23,8 +23,8 @@
#include <utility>
#include "modules/common/log.h"
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/common/math/linear_interpolation.h"
#include "modules/common/proto/pnc_point.pb.h"
namespace
apollo
{
namespace
planning
{
...
...
@@ -38,7 +38,7 @@ void FrenetFramePath::set_points(std::vector<common::FrenetFramePoint> points) {
points_
=
std
::
move
(
points
);
}
const
std
::
vector
<
common
::
FrenetFramePoint
>
&
FrenetFramePath
::
points
()
const
{
const
std
::
vector
<
common
::
FrenetFramePoint
>
&
FrenetFramePath
::
points
()
const
{
return
points_
;
}
...
...
@@ -49,21 +49,14 @@ double FrenetFramePath::Length() const {
return
points_
.
back
().
s
()
-
points_
.
front
().
s
();
}
std
::
uint32_t
FrenetFramePath
::
NumOfPoints
()
const
{
return
points_
.
size
();
}
std
::
uint32_t
FrenetFramePath
::
NumOfPoints
()
const
{
return
points_
.
size
();
}
const
common
::
FrenetFramePoint
&
FrenetFramePath
::
PointAt
(
const
common
::
FrenetFramePoint
&
FrenetFramePath
::
PointAt
(
const
std
::
uint32_t
index
)
const
{
CHECK_LT
(
index
,
points_
.
size
());
return
points_
[
index
];
}
common
::
FrenetFramePoint
&
FrenetFramePath
::
PointAt
(
const
std
::
uint32_t
index
)
{
CHECK_LT
(
index
,
points_
.
size
());
return
points_
[
index
];
}
common
::
FrenetFramePoint
FrenetFramePath
::
EvaluateByS
(
const
double
s
)
const
{
CHECK_GT
(
points_
.
size
(),
1
);
CHECK
(
s
<
points_
.
back
().
s
()
+
1.0e-6
&&
s
>
points_
.
front
().
s
()
-
1.0e-6
);
...
...
@@ -90,9 +83,7 @@ common::FrenetFramePoint FrenetFramePath::EvaluateByS(const double s) const {
return
p
;
}
void
FrenetFramePath
::
Clear
()
{
points_
.
clear
();
}
void
FrenetFramePath
::
Clear
()
{
points_
.
clear
();
}
}
// namespace planning
}
// namespace apollo
modules/planning/common/path/frenet_frame_path.h
浏览文件 @
86f78c18
...
...
@@ -39,7 +39,6 @@ class FrenetFramePath {
std
::
uint32_t
NumOfPoints
()
const
;
double
Length
()
const
;
const
common
::
FrenetFramePoint
&
PointAt
(
const
std
::
uint32_t
index
)
const
;
common
::
FrenetFramePoint
&
PointAt
(
const
std
::
uint32_t
index
);
common
::
FrenetFramePoint
EvaluateByS
(
const
double
s
)
const
;
virtual
void
Clear
();
...
...
modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc
浏览文件 @
86f78c18
...
...
@@ -424,9 +424,9 @@ void QpFrenetFrame::CalculateHDMapBound() {
bool
suc
=
reference_line_
.
get_lane_width
(
evaluated_knots_
[
i
],
&
left_bound
,
&
right_bound
);
if
(
!
suc
)
{
AERROR
<<
"Extracting lane width failed at s = "
<<
evaluated_knots_
[
i
];
left_bound
=
FLAGS_default_reference_line_width
/
2
;
AWARN
<<
"Extracting lane width failed at s = "
<<
evaluated_knots_
[
i
];
right_bound
=
FLAGS_default_reference_line_width
/
2
;
left_bound
=
FLAGS_default_reference_line_width
/
2
;
}
hdmap_bound_
[
i
].
first
=
-
right_bound
+
vehicle_param_
.
width
()
/
2
;
...
...
@@ -434,10 +434,10 @@ void QpFrenetFrame::CalculateHDMapBound() {
if
(
hdmap_bound_
[
i
].
first
>=
hdmap_bound_
[
i
].
second
)
{
AERROR
<<
"HD Map bound at "
<<
evaluated_knots_
[
i
]
<<
" is infeasible ("
<<
hdmap_bound_
[
i
].
first
<<
", "
<<
hdmap_bound_
[
i
].
second
<<
") "
<<
std
::
endl
;
<<
hdmap_bound_
[
i
].
first
<<
", "
<<
hdmap_bound_
[
i
].
second
<<
") "
<<
std
::
endl
;
feasible_longitudinal_upper_bound_
=
std
::
min
(
evaluated_knots_
[
i
],
feasible_longitudinal_upper_bound_
);
std
::
min
(
evaluated_knots_
[
i
],
feasible_longitudinal_upper_bound_
);
}
}
}
...
...
modules/planning/optimizer/st_graph/st_boundary_mapper.cc
浏览文件 @
86f78c18
...
...
@@ -186,6 +186,10 @@ bool StBoundaryMapper::MapStopDecision(const PathObstacle& stop_obstacle,
DCHECK
(
stop_decision
.
has_stop
())
<<
"Must have stop decision"
;
PathPoint
obstacle_point
;
if
(
stop_obstacle
.
perception_sl_boundary
().
start_s
()
>
path_data_
.
frenet_frame_path
().
points
().
back
().
s
())
{
return
true
;
}
if
(
!
path_data_
.
GetPathPointWithRefS
(
stop_obstacle
.
perception_sl_boundary
().
start_s
(),
&
obstacle_point
))
{
AERROR
<<
"Fail to get path point from reference s. The sl boundary of "
...
...
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