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提交 884e495f 编写于 作者: K kechxu 提交者： Jiangtao Hu
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Planning: rename trajectory_generator to manipulator

上级 5ed41b23
隐藏空白更改
内联 并排
Showing with 34 addition and 37 deletion
modules/planning/lattice/trajectory_generator/BUILD → modules/planning/lattice/manipulator/BUILD
浏览文件 @ 884e495f
...@@ -38,7 +38,7 @@ cc_library( ...@@ -38,7 +38,7 @@ cc_library(
"//modules/planning/lattice/trajectory1d:piecewise_acceleration_trajectory1d", "//modules/planning/lattice/trajectory1d:piecewise_acceleration_trajectory1d",
"//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d", "//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d",
"//modules/planning/lattice/trajectory1d:piecewise_trajectory1d", "//modules/planning/lattice/trajectory1d:piecewise_trajectory1d",
"//modules/planning/lattice/trajectory_generator:end_condition_sampler", "//modules/planning/lattice/manipulator:end_condition_sampler",
"//modules/planning/math/curve1d:quartic_polynomial_curve1d", "//modules/planning/math/curve1d:quartic_polynomial_curve1d",
"//modules/planning/math/curve1d:quintic_polynomial_curve1d", "//modules/planning/math/curve1d:quintic_polynomial_curve1d",
"//modules/planning/proto:lattice_sampling_config_proto", "//modules/planning/proto:lattice_sampling_config_proto",
...@@ -77,8 +77,8 @@ cc_library( ...@@ -77,8 +77,8 @@ cc_library(
"//modules/planning/common:planning_gflags", "//modules/planning/common:planning_gflags",
"//modules/planning/common/trajectory:discretized_trajectory", "//modules/planning/common/trajectory:discretized_trajectory",
"//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d", "//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d",
"//modules/planning/lattice/trajectory_generator:trajectory1d_generator", "//modules/planning/lattice/manipulator:trajectory1d_generator",
"//modules/planning/lattice/trajectory_generator:trajectory_combiner", "//modules/planning/lattice/manipulator:trajectory_combiner",
"//modules/planning/math/curve1d", "//modules/planning/math/curve1d",
], ],
) )
......
modules/planning/lattice/trajectory_generator/backup_trajectory_generator.cc → modules/planning/lattice/manipulator/backup_trajectory_generator.cc
浏览文件 @ 884e495f
...@@ -14,8 +14,8 @@ ...@@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*****************************************************************************/ *****************************************************************************/
#include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h" #include "modules/planning/lattice/manipulator/backup_trajectory_generator.h"
#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h" #include "modules/planning/lattice/manipulator/trajectory_combiner.h"
namespace apollo { namespace apollo {
namespace planning { namespace planning {
......
modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h → modules/planning/lattice/manipulator/backup_trajectory_generator.h
浏览文件 @ 884e495f
...@@ -18,8 +18,8 @@ ...@@ -18,8 +18,8 @@
* @file * @file
**/ **/
#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_ #ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_ #define MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
#include <array> #include <array>
#include <functional> #include <functional>
...@@ -31,7 +31,7 @@ ...@@ -31,7 +31,7 @@
#include "modules/planning/common/planning_gflags.h" #include "modules/planning/common/planning_gflags.h"
#include "modules/planning/common/trajectory/discretized_trajectory.h" #include "modules/planning/common/trajectory/discretized_trajectory.h"
#include "modules/planning/lattice/trajectory1d/constant_deceleration_trajectory1d.h" #include "modules/planning/lattice/trajectory1d/constant_deceleration_trajectory1d.h"
#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h" #include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
#include "modules/planning/math/curve1d/curve1d.h" #include "modules/planning/math/curve1d/curve1d.h"
namespace apollo { namespace apollo {
...@@ -87,4 +87,4 @@ class BackupTrajectoryGenerator { ...@@ -87,4 +87,4 @@ class BackupTrajectoryGenerator {
} // namespace planning } // namespace planning
} // namespace apollo } // namespace apollo
#endif // MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_ #endif // MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
modules/planning/lattice/trajectory_generator/end_condition_sampler.cc → modules/planning/lattice/manipulator/end_condition_sampler.cc
浏览文件 @ 884e495f
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
* @file * @file
**/ **/
#include "modules/planning/lattice/trajectory_generator/end_condition_sampler.h" #include "modules/planning/lattice/manipulator/end_condition_sampler.h"
#include <algorithm> #include <algorithm>
#include <utility> #include <utility>
......
modules/planning/lattice/trajectory_generator/end_condition_sampler.h → modules/planning/lattice/manipulator/end_condition_sampler.h
浏览文件 @ 884e495f
...@@ -18,8 +18,8 @@ ...@@ -18,8 +18,8 @@
* @file * @file
**/ **/
#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_ #ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_ #define MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
#include <array> #include <array>
#include <utility> #include <utility>
...@@ -75,4 +75,4 @@ class EndConditionSampler { ...@@ -75,4 +75,4 @@ class EndConditionSampler {
} // namespace planning } // namespace planning
} // namespace apollo } // namespace apollo
#endif // PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_ #endif // MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
modules/planning/lattice/trajectory_generator/trajectory1d_generator.cc → modules/planning/lattice/manipulator/trajectory1d_generator.cc
浏览文件 @ 884e495f
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
* @file * @file
**/ **/
#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h" #include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
......
modules/planning/lattice/trajectory_generator/trajectory1d_generator.h → modules/planning/lattice/manipulator/trajectory1d_generator.h
浏览文件 @ 884e495f
...@@ -18,13 +18,13 @@ ...@@ -18,13 +18,13 @@
* @file * @file
**/ **/
#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_ #ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_ #define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
#include <memory> #include <memory>
#include <vector> #include <vector>
#include "modules/planning/lattice/trajectory_generator/end_condition_sampler.h" #include "modules/planning/lattice/manipulator/end_condition_sampler.h"
#include "modules/planning/lattice/behavior_decider/path_time_graph.h" #include "modules/planning/lattice/behavior_decider/path_time_graph.h"
#include "modules/planning/lattice/behavior_decider/prediction_querier.h" #include "modules/planning/lattice/behavior_decider/prediction_querier.h"
#include "modules/planning/math/curve1d/curve1d.h" #include "modules/planning/math/curve1d/curve1d.h"
...@@ -76,4 +76,4 @@ class Trajectory1dGenerator { ...@@ -76,4 +76,4 @@ class Trajectory1dGenerator {
} // namespace planning } // namespace planning
} // namespace apollo } // namespace apollo
#endif // PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_ #endif // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
modules/planning/lattice/trajectory_generator/trajectory_combiner.cc → modules/planning/lattice/manipulator/trajectory_combiner.cc
浏览文件 @ 884e495f
...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*****************************************************************************/ *****************************************************************************/
#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h" #include "modules/planning/lattice/manipulator/trajectory_combiner.h"
#include <algorithm> #include <algorithm>
......
modules/planning/lattice/trajectory_generator/trajectory_combiner.h → modules/planning/lattice/manipulator/trajectory_combiner.h
浏览文件 @ 884e495f
...@@ -18,8 +18,8 @@ ...@@ -18,8 +18,8 @@
* @file * @file
**/ **/
#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_ #ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_ #define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
#include <vector> #include <vector>
...@@ -41,4 +41,4 @@ class TrajectoryCombiner { ...@@ -41,4 +41,4 @@ class TrajectoryCombiner {
} // namespace planning } // namespace planning
} // namespace apollo } // namespace apollo
#endif // MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_ #endif // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc → modules/planning/lattice/manipulator/trajectory_evaluator.cc
浏览文件 @ 884e495f
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
* @file * @file
**/ **/
#include "modules/planning/lattice/trajectory_generator/trajectory_evaluator.h" #include "modules/planning/lattice/manipulator/trajectory_evaluator.h"
#include <cmath> #include <cmath>
#include <functional> #include <functional>
......
modules/planning/lattice/trajectory_generator/trajectory_evaluator.h → modules/planning/lattice/manipulator/trajectory_evaluator.h
浏览文件 @ 884e495f
...@@ -18,8 +18,8 @@ ...@@ -18,8 +18,8 @@
* @file * @file
**/ **/
#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_ #ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_ #define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
#include <functional> #include <functional>
#include <memory> #include <memory>
...@@ -126,4 +126,4 @@ class TrajectoryEvaluator { ...@@ -126,4 +126,4 @@ class TrajectoryEvaluator {
} // namespace planning } // namespace planning
} // namespace apollo } // namespace apollo
#endif // PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_ #endif // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
modules/planning/planner/lattice/BUILD
浏览文件 @ 884e495f
...@@ -20,10 +20,10 @@ cc_library( ...@@ -20,10 +20,10 @@ cc_library(
"//modules/planning/constraint_checker:collision_checker", "//modules/planning/constraint_checker:collision_checker",
"//modules/planning/lattice/behavior_decider", "//modules/planning/lattice/behavior_decider",
"//modules/planning/lattice/behavior_decider:path_time_graph", "//modules/planning/lattice/behavior_decider:path_time_graph",
"//modules/planning/lattice/trajectory_generator:backup_trajectory_generator", "//modules/planning/lattice/manipulator:backup_trajectory_generator",
"//modules/planning/lattice/trajectory_generator:trajectory1d_generator", "//modules/planning/lattice/manipulator:trajectory1d_generator",
"//modules/planning/lattice/trajectory_generator:trajectory_combiner", "//modules/planning/lattice/manipulator:trajectory_combiner",
"//modules/planning/lattice/trajectory_generator:trajectory_evaluator", "//modules/planning/lattice/manipulator:trajectory_evaluator",
"//modules/planning/lattice/trajectory1d:lattice_trajectory1d", "//modules/planning/lattice/trajectory1d:lattice_trajectory1d",
"//modules/planning/planner", "//modules/planning/planner",
"//modules/planning/proto:planning_proto", "//modules/planning/proto:planning_proto",
......
modules/planning/planner/lattice/lattice_planner.cc
浏览文件 @ 884e495f
...@@ -37,10 +37,10 @@ ...@@ -37,10 +37,10 @@
#include "modules/planning/constraint_checker/constraint_checker.h" #include "modules/planning/constraint_checker/constraint_checker.h"
#include "modules/planning/lattice/behavior_decider/path_time_graph.h" #include "modules/planning/lattice/behavior_decider/path_time_graph.h"
#include "modules/planning/lattice/behavior_decider/prediction_querier.h" #include "modules/planning/lattice/behavior_decider/prediction_querier.h"
#include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h" #include "modules/planning/lattice/manipulator/backup_trajectory_generator.h"
#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h" #include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h" #include "modules/planning/lattice/manipulator/trajectory_combiner.h"
#include "modules/planning/lattice/trajectory_generator/trajectory_evaluator.h" #include "modules/planning/lattice/manipulator/trajectory_evaluator.h"
#include "modules/planning/lattice/trajectory1d/lattice_trajectory1d.h" #include "modules/planning/lattice/trajectory1d/lattice_trajectory1d.h"
namespace apollo { namespace apollo {
......
modules/planning/proto/lattice_structure.proto
浏览文件 @ 884e495f
...@@ -2,9 +2,6 @@ syntax = "proto2"; ...@@ -2,9 +2,6 @@ syntax = "proto2";
package apollo.planning; package apollo.planning;
import "modules/common/proto/pnc_point.proto";
import "modules/planning/proto/lattice_sampling_config.proto";
message PathTimePoint { message PathTimePoint {
optional double t = 1; optional double t = 1;
optional double s = 2; optional double s = 2;
......
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