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939efab6
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体验新版 GitCode,发现更多精彩内容 >>
提交
939efab6
编写于
12月 29, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
12月 29, 2017
浏览文件
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电子邮件补丁
差异文件
Planning: clean up unused params.
上级
39ec40d4
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
12 addition
and
15 deletion
+12
-15
modules/planning/tasks/dp_st_speed/BUILD
modules/planning/tasks/dp_st_speed/BUILD
+1
-0
modules/planning/tasks/dp_st_speed/dp_st_graph.cc
modules/planning/tasks/dp_st_speed/dp_st_graph.cc
+4
-8
modules/planning/tasks/dp_st_speed/dp_st_graph.h
modules/planning/tasks/dp_st_speed/dp_st_graph.h
+5
-5
modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc
modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc
+2
-2
未找到文件。
modules/planning/tasks/dp_st_speed/BUILD
浏览文件 @
939efab6
...
...
@@ -45,6 +45,7 @@ cc_library(
deps
=
[
":dp_st_cost"
,
":st_graph_point"
,
"//modules/common/configs:vehicle_config_helper"
,
"//modules/common/configs/proto:vehicle_config_proto"
,
"//modules/common/proto:common_proto"
,
"//modules/common/proto:pnc_point_proto"
,
...
...
modules/planning/tasks/dp_st_speed/dp_st_graph.cc
浏览文件 @
939efab6
...
...
@@ -26,7 +26,6 @@
#include "modules/common/proto/pnc_point.pb.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/log.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/common/planning_gflags.h"
...
...
@@ -38,7 +37,6 @@ using apollo::common::ErrorCode;
using
apollo
::
common
::
SpeedPoint
;
using
apollo
::
common
::
Status
;
using
apollo
::
common
::
math
::
Vec2d
;
using
apollo
::
common
::
VehicleConfigHelper
;
using
apollo
::
common
::
VehicleParam
;
namespace
{
...
...
@@ -55,17 +53,15 @@ bool CheckOverlapOnDpStGraph(const std::vector<const StBoundary*>& boundaries,
}
}
// namespace
DpStGraph
::
DpStGraph
(
const
ReferenceLine
&
reference_line
,
const
StGraphData
&
st_graph_data
,
DpStGraph
::
DpStGraph
(
const
StGraphData
&
st_graph_data
,
const
DpStSpeedConfig
&
dp_config
,
const
std
::
vector
<
const
PathObstacle
*>&
obstacles
,
const
common
::
TrajectoryPoint
&
init_point
,
const
SLBoundary
&
adc_sl_boundary
)
:
reference_line_
(
reference_line
),
st_graph_data_
(
st_graph_data
),
:
st_graph_data_
(
st_graph_data
),
dp_st_speed_config_
(
dp_config
),
obstacles_
(
obstacles
),
vehicle_param_
(
VehicleConfigHelper
::
GetConfig
().
vehicle_param
()),
init_point_
(
st_graph_data
.
init_point
()),
init_point_
(
init_point
),
dp_st_cost_
(
dp_config
,
obstacles
,
init_point_
),
adc_sl_boundary_
(
adc_sl_boundary
)
{
dp_st_speed_config_
.
set_total_path_length
(
...
...
modules/planning/tasks/dp_st_speed/dp_st_graph.h
浏览文件 @
939efab6
...
...
@@ -27,6 +27,7 @@
#include "modules/planning/proto/dp_st_speed_config.pb.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/status/status.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/path_decision.h"
...
...
@@ -42,9 +43,9 @@ namespace planning {
class
DpStGraph
{
public:
DpStGraph
(
const
ReferenceLine
&
reference_line
,
const
StGraphData
&
st_graph_data
,
const
DpStSpeedConfig
&
dp_config
,
DpStGraph
(
const
StGraphData
&
st_graph_data
,
const
DpStSpeedConfig
&
dp_config
,
const
std
::
vector
<
const
PathObstacle
*>&
obstacles
,
const
common
::
TrajectoryPoint
&
init_point
,
const
SLBoundary
&
adc_sl_boundary
);
apollo
::
common
::
Status
Search
(
SpeedData
*
const
speed_data
);
...
...
@@ -77,8 +78,6 @@ class DpStGraph {
uint32_t
*
lowest_row
);
private:
const
ReferenceLine
&
reference_line_
;
const
StGraphData
&
st_graph_data_
;
// dp st configuration
...
...
@@ -88,7 +87,8 @@ class DpStGraph {
const
std
::
vector
<
const
PathObstacle
*>&
obstacles_
;
// vehicle configuration parameter
const
common
::
VehicleParam
&
vehicle_param_
;
const
common
::
VehicleParam
&
vehicle_param_
=
common
::
VehicleConfigHelper
::
GetConfig
().
vehicle_param
();
// initial status
common
::
TrajectoryPoint
init_point_
;
...
...
modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc
浏览文件 @
939efab6
...
...
@@ -113,9 +113,9 @@ bool DpStSpeedOptimizer::SearchStGraph(const StBoundaryMapper& boundary_mapper,
StGraphData
st_graph_data
(
boundaries
,
init_point_
,
speed_limit
,
path_length
);
DpStGraph
st_graph
(
*
reference_line_
,
st_graph_data
,
dp_st_speed_config_
,
st_graph_data
,
dp_st_speed_config_
,
reference_line_info_
->
path_decision
()
->
path_obstacles
().
Items
(),
adc_sl_boundary_
);
init_point_
,
adc_sl_boundary_
);
if
(
!
st_graph
.
Search
(
speed_data
).
ok
())
{
const
std
::
string
msg
(
...
...
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