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94ceb1e5
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体验新版 GitCode,发现更多精彩内容 >>
提交
94ceb1e5
编写于
8月 31, 2017
作者:
J
Jiangtao Hu
提交者:
Yifei Jiang
8月 31, 2017
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电子邮件补丁
差异文件
planning: add one sunnyvale loop integration test to trigger qp st failed to solve.
上级
0396fc4e
变更
8
展开全部
显示空白变更内容
内联
并排
Showing
8 changed file
with
21202 addition
and
2 deletion
+21202
-2
modules/planning/integration_tests/sunnyvale_loop_test.cc
modules/planning/integration_tests/sunnyvale_loop_test.cc
+13
-0
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
.../tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
+3
-2
modules/planning/testdata/sunnyvale_loop_test/2_chassis.pb.txt
...es/planning/testdata/sunnyvale_loop_test/2_chassis.pb.txt
+22
-0
modules/planning/testdata/sunnyvale_loop_test/2_localization.pb.txt
...anning/testdata/sunnyvale_loop_test/2_localization.pb.txt
+49
-0
modules/planning/testdata/sunnyvale_loop_test/2_planning.pb.txt
...s/planning/testdata/sunnyvale_loop_test/2_planning.pb.txt
+18133
-0
modules/planning/testdata/sunnyvale_loop_test/2_prediction.pb.txt
...planning/testdata/sunnyvale_loop_test/2_prediction.pb.txt
+2559
-0
modules/planning/testdata/sunnyvale_loop_test/2_routing.pb.txt
...es/planning/testdata/sunnyvale_loop_test/2_routing.pb.txt
+413
-0
modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
...lanning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
+10
-0
未找到文件。
modules/planning/integration_tests/sunnyvale_loop_test.cc
浏览文件 @
94ceb1e5
...
...
@@ -53,5 +53,18 @@ TEST_F(SunnyvaleLoopTest, cruise) {
RUN_GOLDEN_TEST
;
}
/*
* stop case to trigger QP ST failed to solve
*/
TEST_F
(
SunnyvaleLoopTest
,
stop
)
{
std
::
string
seq_num
=
"2"
;
FLAGS_test_prediction_file
=
seq_num
+
"_prediction.pb.txt"
;
FLAGS_test_localization_file
=
seq_num
+
"_localization.pb.txt"
;
FLAGS_test_chassis_file
=
seq_num
+
"_chassis.pb.txt"
;
FLAGS_test_routing_response_file
=
seq_num
+
"_routing.pb.txt"
;
PlanningTestBase
::
SetUp
();
RUN_GOLDEN_TEST
;
}
}
// namespace planning
}
// namespace apollo
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
浏览文件 @
94ceb1e5
...
...
@@ -103,8 +103,9 @@ Status QpSplineStSpeedOptimizer::Process(const SLBoundary& adc_sl_boundary,
path_data
.
discretized_path
().
Length
());
if
(
st_graph
.
Search
(
st_graph_data
,
path_data
,
speed_data
)
!=
Status
::
OK
())
{
RecordSTGraphDebug
(
boundaries
,
speed_limits
,
*
speed_data
);
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
"Failed to search graph with quadratic programming!"
);
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
Name
()
+
":Failed to search graph with quadratic programming!"
);
}
// record debug info
...
...
modules/planning/testdata/sunnyvale_loop_test/2_chassis.pb.txt
0 → 100755
浏览文件 @
94ceb1e5
engine_started: true
engine_rpm: 0
speed_mps: 2.7111111
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.031663
brake_percentage: 23.480583
steering_percentage: -11.893617
steering_torque_nm: -1.625
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1504137801.1602917
module_name: "chassis"
sequence_num: 8582
}
signal {
turn_signal: TURN_RIGHT
horn: false
}
modules/planning/testdata/sunnyvale_loop_test/2_localization.pb.txt
0 → 100755
浏览文件 @
94ceb1e5
header {
timestamp_sec: 1504137801.1540642
module_name: "localization"
sequence_num: 9641
}
pose {
position {
x: 587045.66240733874
y: 4141549.0626950948
z: -31.299898234196007
}
orientation {
qx: -0.045296475715011039
qy: 0.017067935912339849
qz: -0.17942469644699402
qw: 0.98258012047689813
}
linear_velocity {
x: 0.95160587339251179
y: 2.5243101138202366
z: -0.03652591539262251
}
linear_acceleration {
x: -0.24884682217253135
y: -0.90949121068718553
z: -0.20129972315595951
}
angular_velocity {
x: 0.012665705286737822
y: 0.000502381408384895
z: -0.061508888409814014
}
heading: 1.2103929796890078
linear_acceleration_vrf {
x: 0.092891639215445687
y: -0.91540677177473739
z: -0.28813567519156147
}
angular_velocity_vrf {
x: 0.012728191094051541
y: 0.010766229267606368
z: -0.060548305424112284
}
euler_angles {
x: 0.017366259648608176
y: 0.09528376629154689
z: 1.2103929796890078
}
}
modules/planning/testdata/sunnyvale_loop_test/2_planning.pb.txt
0 → 100644
浏览文件 @
94ceb1e5
此差异已折叠。
点击以展开。
modules/planning/testdata/sunnyvale_loop_test/2_prediction.pb.txt
0 → 100755
浏览文件 @
94ceb1e5
此差异已折叠。
点击以展开。
modules/planning/testdata/sunnyvale_loop_test/2_routing.pb.txt
0 → 100755
浏览文件 @
94ceb1e5
header {
timestamp_sec: 1504201419.0536358
module_name: "routing"
sequence_num: 36
}
route {
road_info {
id: "r0"
in_lane {
id: "27_1_-1"
s: 0
}
out_lane {
id: "27_1_-1"
s: 14.3635
}
passage_region {
segment {
id: "27_1_-1"
start_s: 0
end_s: 14.3635
}
}
}
}
route {
road_info {
id: "r1"
in_lane {
id: "81_1_-1"
s: 0
}
out_lane {
id: "81_1_-1"
s: 17.986
}
passage_region {
segment {
id: "81_1_-1"
start_s: 0
end_s: 17.986
}
}
}
}
route {
road_info {
id: "r2"
in_lane {
id: "160_1_-3"
s: 0
}
out_lane {
id: "160_1_-3"
s: 251.678
}
passage_region {
segment {
id: "160_1_-3"
start_s: 0
end_s: 251.678
}
}
}
}
route {
road_info {
id: "r3"
in_lane {
id: "822_1_-3"
s: 0
}
out_lane {
id: "822_1_-3"
s: 58.4734
}
passage_region {
segment {
id: "822_1_-3"
start_s: 0
end_s: 58.4734
}
}
}
}
route {
road_info {
id: "r4"
in_lane {
id: "165_1_-1"
s: 0
}
out_lane {
id: "165_1_-1"
s: 37.7612
}
passage_region {
segment {
id: "165_1_-1"
start_s: 0
end_s: 37.7612
}
}
}
}
route {
road_info {
id: "r5"
in_lane {
id: "138_1_-1"
s: 0
}
out_lane {
id: "138_1_-1"
s: 308.143
}
passage_region {
segment {
id: "138_1_-1"
start_s: 0
end_s: 308.143
}
}
}
}
route {
road_info {
id: "r6"
in_lane {
id: "144_1_-1"
s: 0
}
out_lane {
id: "144_1_-1"
s: 46.5655
}
passage_region {
segment {
id: "144_1_-1"
start_s: 0
end_s: 46.5655
}
}
}
}
route {
road_info {
id: "r7"
in_lane {
id: "140_1_-1"
s: 0
}
out_lane {
id: "140_1_-1"
s: 146.337
}
passage_region {
segment {
id: "140_1_-1"
start_s: 0
end_s: 146.337
}
}
}
}
route {
road_info {
id: "r8"
in_lane {
id: "747_1_-1"
s: 0
}
out_lane {
id: "747_1_-1"
s: 15.6326
}
passage_region {
segment {
id: "747_1_-1"
start_s: 0
end_s: 15.6326
}
}
}
}
route {
road_info {
id: "r9"
in_lane {
id: "141_1_-2"
s: 0
}
out_lane {
id: "141_1_-2"
s: 41.6019
}
passage_region {
segment {
id: "141_1_-2"
start_s: 0
end_s: 41.6019
}
}
}
}
route {
road_info {
id: "r10"
in_lane {
id: "906_1_-1"
s: 0
}
out_lane {
id: "906_1_-1"
s: 27.921
}
passage_region {
segment {
id: "906_1_-1"
start_s: 0
end_s: 27.921
}
}
}
}
route {
road_info {
id: "r11"
in_lane {
id: "9_1_-2"
s: 0
}
out_lane {
id: "9_1_-2"
s: 161.962
}
passage_region {
segment {
id: "9_1_-2"
start_s: 0
end_s: 161.962
}
}
}
}
route {
road_info {
id: "r12"
in_lane {
id: "13_1_-2"
s: 0
}
out_lane {
id: "13_1_-2"
s: 35.3398
}
passage_region {
segment {
id: "13_1_-2"
start_s: 0
end_s: 35.3398
}
}
}
}
route {
road_info {
id: "r13"
in_lane {
id: "12_1_-3"
s: 0
}
out_lane {
id: "12_1_-3"
s: 122.494
}
passage_region {
segment {
id: "12_1_-3"
start_s: 0
end_s: 122.494
}
}
}
}
route {
road_info {
id: "r14"
in_lane {
id: "133_1_-3"
s: 0
}
out_lane {
id: "133_1_-3"
s: 3.63182
}
passage_region {
segment {
id: "133_1_-3"
start_s: 0
end_s: 3.63182
}
}
}
}
route {
road_info {
id: "r15"
in_lane {
id: "88_1_-1"
s: 0
}
out_lane {
id: "88_1_-1"
s: 19.7333
}
passage_region {
segment {
id: "88_1_-1"
start_s: 0
end_s: 19.7333
}
}
}
}
route {
road_info {
id: "r16"
in_lane {
id: "21_1_-1"
s: 0
}
out_lane {
id: "21_1_-1"
s: 128.73
}
passage_region {
segment {
id: "21_1_-1"
start_s: 0
end_s: 128.73
}
}
}
}
route {
road_info {
id: "r17"
in_lane {
id: "22_1_-1"
s: 0
}
out_lane {
id: "22_1_-1"
s: 31.9409
}
passage_region {
segment {
id: "22_1_-1"
start_s: 0
end_s: 31.9409
}
}
}
}
route {
road_info {
id: "r18"
in_lane {
id: "23_1_-1"
s: 0
}
out_lane {
id: "23_1_-1"
s: 49.0576
}
passage_region {
segment {
id: "23_1_-1"
start_s: 0
end_s: 49.0576
}
}
}
}
measurement {
distance: 1519.3525200000001
}
routing_request {
header {
timestamp_sec: 1504201419.052084
module_name: "hmi_ros_bridge"
sequence_num: 34
}
start {
id: "27_1_-1"
s: 1.8700738747954115
pose {
x: 587045.54288088426
y: 4141548.7253392646
z: -31.29764156229794
}
}
end {
id: "23_1_-1"
s: 0
pose {
x: 586948.74012
y: 4141171.118641
}
}
}
map_version: "1.400000"
modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
0 → 100644
浏览文件 @
94ceb1e5
header {
module_name: "planning"
sequence_num: 2
status {
error_code: PLANNING_ERROR
msg: "QpSplineStSpeedOptimizer:Failed to search graph with quadratic programming!"
}
}
is_replan: true
gear: GEAR_DRIVE
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