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体验新版 GitCode,发现更多精彩内容 >>
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91785f00
编写于
5月 09, 2019
作者:
Q
Qi Luo
提交者:
HongyiSun
5月 09, 2019
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电子邮件补丁
差异文件
Planning: fix path_time_qp setting based on new piecewise_jerk interface
上级
3af4a5f7
变更
1
显示空白变更内容
内联
并排
Showing
1 changed file
with
8 addition
and
9 deletion
+8
-9
modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star.cc
...g/open_space/coarse_trajectory_generator/hybrid_a_star.cc
+8
-9
未找到文件。
modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star.cc
浏览文件 @
91785f00
...
@@ -394,16 +394,18 @@ bool HybridAStar::GenerateSCurveSpeedAcceleration(HybridAStartResult* result) {
...
@@ -394,16 +394,18 @@ bool HybridAStar::GenerateSCurveSpeedAcceleration(HybridAStartResult* result) {
const
size_t
num_of_knots
=
x_size
-
1
;
const
size_t
num_of_knots
=
x_size
-
1
;
PiecewiseJerkSpeedProblem
path_time_qp
(
num_of_knots
,
delta_t_
,
init_s
);
PiecewiseJerkSpeedProblem
path_time_qp
(
num_of_knots
,
delta_t_
,
init_s
);
auto
s_curve_config
=
planner_open_space_config_
.
warm_start_config
()
auto
s_curve_config
=
.
s_curve_config
();
planner_open_space_config_
.
warm_start_config
()
.
s_curve_config
();
path_time_qp
.
set_weight_ddx
(
s_curve_config
.
acc_weight
());
path_time_qp
.
set_weight_ddx
(
s_curve_config
.
acc_weight
());
path_time_qp
.
set_weight_dddx
(
s_curve_config
.
jerk_weight
());
path_time_qp
.
set_weight_dddx
(
s_curve_config
.
jerk_weight
());
path_time_qp
.
set_x_bounds
(
path_time_qp
.
set_x_bounds
(
*
(
std
::
min_element
(
std
::
begin
(
result
->
accumulated_s
),
*
(
std
::
min_element
(
std
::
begin
(
result
->
accumulated_s
),
std
::
end
(
result
->
accumulated_s
)))
-
10
,
std
::
end
(
result
->
accumulated_s
)))
-
10
,
*
(
std
::
max_element
(
std
::
begin
(
result
->
accumulated_s
),
*
(
std
::
max_element
(
std
::
begin
(
result
->
accumulated_s
),
std
::
end
(
result
->
accumulated_s
)))
+
10
);
std
::
end
(
result
->
accumulated_s
)))
+
10
);
path_time_qp
.
set_dx_bounds
(
path_time_qp
.
set_dx_bounds
(
*
(
std
::
min_element
(
std
::
begin
(
result
->
v
),
std
::
end
(
result
->
v
))
-
10
),
*
(
std
::
min_element
(
std
::
begin
(
result
->
v
),
std
::
end
(
result
->
v
))
-
10
),
*
(
std
::
max_element
(
std
::
begin
(
result
->
v
),
std
::
end
(
result
->
v
)))
+
10
);
*
(
std
::
max_element
(
std
::
begin
(
result
->
v
),
std
::
end
(
result
->
v
)))
+
10
);
...
@@ -411,11 +413,8 @@ bool HybridAStar::GenerateSCurveSpeedAcceleration(HybridAStartResult* result) {
...
@@ -411,11 +413,8 @@ bool HybridAStar::GenerateSCurveSpeedAcceleration(HybridAStartResult* result) {
path_time_qp
.
set_ddx_bounds
(
-
4.4
,
10.0
);
path_time_qp
.
set_ddx_bounds
(
-
4.4
,
10.0
);
path_time_qp
.
set_dddx_bound
(
FLAGS_longitudinal_jerk_bound
);
path_time_qp
.
set_dddx_bound
(
FLAGS_longitudinal_jerk_bound
);
// TODO(all): this is not correct; fix it!
path_time_qp
.
set_x_ref
(
s_curve_config
.
ref_s_weight
(),
result
->
accumulated_s
);
path_time_qp
.
set_x_ref
(
s_curve_config
.
ref_s_weight
(),
path_time_qp
.
set_end_state_ref
({
1.0
,
1.0
,
0.0
},
end_s
);
result
->
accumulated_s
);
path_time_qp
.
set_dx_ref
(
s_curve_config
.
ref_v_weight
(),
0.0
);
path_time_qp
.
set_end_state_ref
({
0.0
,
0.0
,
0.0
},
end_s
);
// Solve the problem
// Solve the problem
if
(
!
path_time_qp
.
Optimize
())
{
if
(
!
path_time_qp
.
Optimize
())
{
...
...
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