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体验新版 GitCode,发现更多精彩内容 >>
提交
9ba27fa1
编写于
8月 23, 2017
作者:
A
Aaron Xiao
提交者:
Jiangtao Hu
8月 23, 2017
浏览文件
操作
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电子邮件补丁
差异文件
Map: Refactor PncMap code style.
上级
f2dab52a
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
15 addition
and
17 deletion
+15
-17
modules/dreamview/backend/map/map_service.cc
modules/dreamview/backend/map/map_service.cc
+1
-1
modules/dreamview/backend/map/map_service.h
modules/dreamview/backend/map/map_service.h
+1
-1
modules/map/pnc_map/pnc_map.cc
modules/map/pnc_map/pnc_map.cc
+10
-11
modules/map/pnc_map/pnc_map.h
modules/map/pnc_map/pnc_map.h
+3
-4
未找到文件。
modules/dreamview/backend/map/map_service.cc
浏览文件 @
9ba27fa1
...
...
@@ -245,7 +245,7 @@ bool MapService::GetPoseWithLane(const double x, const double y, double *theta,
point
.
set_y
(
y
);
double
l
;
LaneInfoConstPtr
nearest_lane
;
if
(
BaseMap
()
->
get_nearest_lane
(
point
,
&
nearest_lane
,
s
,
&
l
)
<
0
)
{
if
(
BaseMap
()
.
get_nearest_lane
(
point
,
&
nearest_lane
,
s
,
&
l
)
<
0
)
{
AERROR
<<
"Failed to get neareset lane!"
;
return
false
;
}
...
...
modules/dreamview/backend/map/map_service.h
浏览文件 @
9ba27fa1
...
...
@@ -81,7 +81,7 @@ class MapService {
double
*
s
)
const
;
private:
const
::
apollo
::
hdmap
::
HDMap
*
BaseMap
()
const
{
const
::
apollo
::
hdmap
::
HDMap
&
BaseMap
()
const
{
return
pnc_map_
.
HDMap
();
}
...
...
modules/map/pnc_map/pnc_map.cc
浏览文件 @
9ba27fa1
...
...
@@ -49,7 +49,7 @@ const double kDuplicatedPointsEpsilon = 1e-7;
// Maximum lateral error used in trajectory approximation.
const
double
kTrajectoryApproximationMaxError
=
2.0
;
void
remove_d
uplicates
(
std
::
vector
<
common
::
math
::
Vec2d
>
*
points
)
{
void
RemoveD
uplicates
(
std
::
vector
<
common
::
math
::
Vec2d
>
*
points
)
{
CHECK_NOTNULL
(
points
);
int
count
=
0
;
const
double
limit
=
kDuplicatedPointsEpsilon
*
kDuplicatedPointsEpsilon
;
...
...
@@ -62,7 +62,7 @@ void remove_duplicates(std::vector<common::math::Vec2d> *points) {
points
->
resize
(
count
);
}
void
remove_d
uplicates
(
std
::
vector
<
hdmap
::
MapPathPoint
>
*
points
)
{
void
RemoveD
uplicates
(
std
::
vector
<
hdmap
::
MapPathPoint
>
*
points
)
{
CHECK_NOTNULL
(
points
);
int
count
=
0
;
const
double
limit
=
kDuplicatedPointsEpsilon
*
kDuplicatedPointsEpsilon
;
...
...
@@ -85,7 +85,7 @@ PncMap::PncMap(const std::string &map_file) {
AINFO
<<
"map loaded, Map file: "
<<
map_file
;
}
bool
PncMap
::
validate_r
outing
(
const
RoutingResponse
&
routing
)
const
{
bool
PncMap
::
ValidateR
outing
(
const
RoutingResponse
&
routing
)
const
{
const
int
num_routes
=
routing
.
route_size
();
if
(
num_routes
==
0
)
{
AERROR
<<
"Route is empty."
;
...
...
@@ -178,7 +178,7 @@ bool PncMap::GetLaneSegmentsFromRouting(
<<
forward_length
<<
"] are invalid"
;
return
false
;
}
if
(
!
validate_r
outing
(
routing
))
{
if
(
!
ValidateR
outing
(
routing
))
{
AERROR
<<
"The provided routing result is invalid"
;
return
false
;
}
...
...
@@ -395,7 +395,7 @@ bool PncMap::TruncateLaneSegments(
return
true
;
}
void
PncMap
::
append_lane_to_p
oints
(
void
PncMap
::
AppendLaneToP
oints
(
hdmap
::
LaneInfoConstPtr
lane
,
const
double
start_s
,
const
double
end_s
,
std
::
vector
<
hdmap
::
MapPathPoint
>
*
const
points
)
{
if
(
points
==
nullptr
||
start_s
>=
end_s
)
{
...
...
@@ -429,8 +429,8 @@ void PncMap::append_lane_to_points(
}
}
bool
PncMap
::
CreatePathFromRouting
(
const
::
apollo
::
routing
::
RoutingResponse
&
routing
,
Path
*
const
path
)
const
{
bool
PncMap
::
CreatePathFromRouting
(
const
RoutingResponse
&
routing
,
Path
*
const
path
)
const
{
LaneSegments
segments
;
for
(
const
auto
&
way
:
routing
.
route
())
{
if
(
way
.
has_road_info
()
&&
!
way
.
road_info
().
passage_region
().
empty
())
{
...
...
@@ -462,14 +462,13 @@ void PncMap::CreatePathFromLaneSegments(const LaneSegments &segments,
Path
*
const
path
)
{
std
::
vector
<
hdmap
::
MapPathPoint
>
points
;
for
(
const
auto
&
segment
:
segments
)
{
append_lane_to_points
(
segment
.
lane
,
segment
.
start_s
,
segment
.
end_s
,
&
points
);
AppendLaneToPoints
(
segment
.
lane
,
segment
.
start_s
,
segment
.
end_s
,
&
points
);
}
remove_d
uplicates
(
&
points
);
RemoveD
uplicates
(
&
points
);
*
path
=
hdmap
::
Path
(
points
,
segments
,
kTrajectoryApproximationMaxError
);
}
const
hdmap
::
HDMap
*
PncMap
::
HDMap
()
const
{
return
&
hdmap_
;
}
const
hdmap
::
HDMap
&
PncMap
::
HDMap
()
const
{
return
hdmap_
;
}
}
// namespace hdmap
}
// namespace apollo
modules/map/pnc_map/pnc_map.h
浏览文件 @
9ba27fa1
...
...
@@ -42,7 +42,7 @@ class PncMap {
virtual
~
PncMap
()
=
default
;
explicit
PncMap
(
const
std
::
string
&
map_file
);
const
hdmap
::
HDMap
*
HDMap
()
const
;
const
hdmap
::
HDMap
&
HDMap
()
const
;
/**
* @brief Warning: this function only works if there is no change lane in
...
...
@@ -65,9 +65,8 @@ class PncMap {
double
end_s
,
LaneSegments
*
const
truncated_segments
)
const
;
bool
validate_routing
(
const
::
apollo
::
routing
::
RoutingResponse
&
routing
)
const
;
static
void
append_lane_to_points
(
bool
ValidateRouting
(
const
::
apollo
::
routing
::
RoutingResponse
&
routing
)
const
;
static
void
AppendLaneToPoints
(
hdmap
::
LaneInfoConstPtr
lane
,
const
double
start_s
,
const
double
end_s
,
std
::
vector
<
hdmap
::
MapPathPoint
>
*
const
points
);
hdmap
::
HDMap
hdmap_
;
...
...
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