Skip to content
体验新版
项目
组织
正在加载...
登录
切换导航
打开侧边栏
Pinoxchio
apollo
提交
8946208e
A
apollo
项目概览
Pinoxchio
/
apollo
与 Fork 源项目一致
从无法访问的项目Fork
通知
2
Star
0
Fork
0
代码
文件
提交
分支
Tags
贡献者
分支图
Diff
Issue
0
列表
看板
标记
里程碑
合并请求
0
Wiki
0
Wiki
分析
仓库
DevOps
项目成员
Pages
A
apollo
项目概览
项目概览
详情
发布
仓库
仓库
文件
提交
分支
标签
贡献者
分支图
比较
Issue
0
Issue
0
列表
看板
标记
里程碑
合并请求
0
合并请求
0
Pages
分析
分析
仓库分析
DevOps
Wiki
0
Wiki
成员
成员
收起侧边栏
关闭侧边栏
动态
分支图
创建新Issue
提交
Issue看板
体验新版 GitCode,发现更多精彩内容 >>
提交
8946208e
编写于
10月 16, 2018
作者:
L
luoqi06
提交者:
Liangliang Zhang
10月 17, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Planning : fix get result for distance approach problem
上级
19449c87
变更
1
隐藏空白更改
内联
并排
Showing
1 changed file
with
25 addition
and
16 deletion
+25
-16
modules/planning/open_space/distance_approach_ipopt_interface.cc
.../planning/open_space/distance_approach_ipopt_interface.cc
+25
-16
未找到文件。
modules/planning/open_space/distance_approach_ipopt_interface.cc
浏览文件 @
8946208e
...
...
@@ -55,9 +55,9 @@ DistanceApproachIPOPTInterface::DistanceApproachIPOPTInterface(
g_
=
{
l_ev_
/
2
,
w_ev_
/
2
,
l_ev_
/
2
,
w_ev_
/
2
};
offset_
=
(
ego_
(
0
,
0
)
+
ego_
(
2
,
0
))
/
2
-
ego_
(
2
,
0
);
obstacles_vertices_sum_
=
std
::
size_t
(
obstacles_edges_num_
.
sum
());
state_result_
=
Eigen
::
MatrixXd
::
Zero
(
horizon_
+
1
,
4
);
control_result_
=
Eigen
::
MatrixXd
::
Zero
(
horizon_
+
1
,
2
);
time_result_
=
Eigen
::
MatrixXd
::
Zero
(
horizon_
+
1
,
1
);
state_result_
=
Eigen
::
MatrixXd
::
Zero
(
4
,
horizon_
+
1
);
control_result_
=
Eigen
::
MatrixXd
::
Zero
(
2
,
horizon_
+
1
);
time_result_
=
Eigen
::
MatrixXd
::
Zero
(
1
,
horizon_
+
1
);
state_start_index_
=
0
;
control_start_index_
=
4
*
(
horizon_
+
1
);
time_start_index_
=
control_start_index_
+
2
*
horizon_
;
...
...
@@ -1409,27 +1409,36 @@ void DistanceApproachIPOPTInterface::finalize_solution(
double
obj_value
,
const
Ipopt
::
IpoptData
*
ip_data
,
Ipopt
::
IpoptCalculatedQuantities
*
ip_cq
)
{
AINFO
<<
"finalize_solution"
;
for
(
std
::
size_t
i
=
0
;
i
<
horizon_
;
++
i
)
{
std
::
size_t
state_index
=
i
*
4
;
std
::
size_t
control_index
=
i
*
2
;
std
::
size_t
state_index
=
state_start_index_
;
std
::
size_t
control_index
=
control_start_index_
;
std
::
size_t
time_index
=
time_start_index_
;
// 1. state variables, 4 * [0, horizon]
// 2. control variables, 2 * [0, horizon_-1]
// 3. sampling time variables, 1 * [0, horizon_]
for
(
std
::
size_t
i
=
0
;
i
<
horizon_
;
++
i
)
{
state_result_
(
0
,
i
)
=
x
[
state_index
];
state_result_
(
1
,
i
)
=
x
[
state_index
+
1
];
state_result_
(
2
,
i
)
=
x
[
state_index
+
2
];
state_result_
(
3
,
i
)
=
x
[
state_index
+
3
];
control_result_
(
0
,
i
)
=
x
[
control_
start_index_
+
control_
index
];
control_result_
(
1
,
i
)
=
x
[
control_
start_index_
+
control_index
+
1
];
control_result_
(
0
,
i
)
=
x
[
control_index
];
control_result_
(
1
,
i
)
=
x
[
control_
index
];
time_result_
(
0
,
i
)
=
x
[
time_start_index_
+
i
];
time_result_
(
0
,
i
)
=
x
[
time_index
];
state_index
+=
4
;
control_index
+=
2
;
time_index
+=
1
;
}
// push back state for N+1
state_result_
(
0
,
4
*
horizon_
)
=
x
[
4
*
horizon_
];
state_result_
(
1
,
4
*
horizon_
+
1
)
=
x
[
4
*
horizon_
+
1
];
state_result_
(
2
,
4
*
horizon_
+
2
)
=
x
[
4
*
horizon_
+
2
];
state_result_
(
3
,
4
*
horizon_
+
3
)
=
x
[
4
*
horizon_
+
3
];
time_result_
(
0
,
time_start_index_
+
horizon_
)
=
x
[
time_start_index_
+
horizon_
];
AINFO
<<
"finalize_solution horizon done!"
;
// push back last horizon for state and time variables
state_result_
(
0
,
horizon_
)
=
x
[
state_index
];
state_result_
(
1
,
horizon_
)
=
x
[
state_index
+
1
];
state_result_
(
2
,
horizon_
)
=
x
[
state_index
+
2
];
state_result_
(
3
,
horizon_
)
=
x
[
state_index
+
3
];
time_result_
(
0
,
horizon_
)
=
x
[
time_index
];
AINFO
<<
"finalize_solution done!"
;
}
void
DistanceApproachIPOPTInterface
::
get_optimization_results
(
...
...
编辑
预览
Markdown
is supported
0%
请重试
或
添加新附件
.
添加附件
取消
You are about to add
0
people
to the discussion. Proceed with caution.
先完成此消息的编辑!
取消
想要评论请
注册
或
登录