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体验新版 GitCode,发现更多精彩内容 >>
提交
9e9d58e9
编写于
1月 11, 2019
作者:
Y
Yajia Zhang
浏览文件
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电子邮件补丁
差异文件
prediction: fixed obstacle LRU access problem
上级
a343c6d1
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
15 addition
and
5 deletion
+15
-5
modules/prediction/container/obstacles/obstacles_container.cc
...les/prediction/container/obstacles/obstacles_container.cc
+14
-5
modules/prediction/container/obstacles/obstacles_container.h
modules/prediction/container/obstacles/obstacles_container.h
+1
-0
未找到文件。
modules/prediction/container/obstacles/obstacles_container.cc
浏览文件 @
9e9d58e9
...
...
@@ -110,8 +110,17 @@ void ObstaclesContainer::Insert(const ::google::protobuf::Message& message) {
Obstacle
*
ObstaclesContainer
::
GetObstacle
(
const
int
id
)
{
auto
ptr_obstacle
=
ptr_obstacles_
.
GetSilently
(
id
);
if
(
ptr_obstacle
!=
nullptr
)
return
ptr_obstacles_
.
GetSilently
(
id
)
->
get
();
if
(
ptr_obstacle
!=
nullptr
)
{
return
ptr_obstacle
->
get
();
}
return
nullptr
;
}
Obstacle
*
ObstaclesContainer
::
GetObstacleWithLRUUpdate
(
const
int
obstacle_id
)
{
auto
ptr_obstacle
=
ptr_obstacles_
.
Get
(
obstacle_id
);
if
(
ptr_obstacle
!=
nullptr
)
{
return
ptr_obstacle
->
get
();
}
return
nullptr
;
}
...
...
@@ -154,7 +163,7 @@ void ObstaclesContainer::InsertPerceptionObstacle(
// Insert the obstacle and also update the LRUCache.
curr_frame_predictable_obstacle_ids_
.
push_back
(
prediction_id
);
auto
obstacle_ptr
=
GetObstacle
(
prediction_id
);
auto
obstacle_ptr
=
GetObstacle
WithLRUUpdate
(
prediction_id
);
if
(
obstacle_ptr
!=
nullptr
)
{
obstacle_ptr
->
Insert
(
perception_obstacle
,
timestamp
,
prediction_id
);
ADEBUG
<<
"Refresh obstacle ["
<<
prediction_id
<<
"]"
;
...
...
@@ -176,7 +185,7 @@ void ObstaclesContainer::InsertFeatureProto(const Feature& feature) {
return
;
}
int
id
=
feature
.
id
();
auto
obstacle_ptr
=
GetObstacle
(
id
);
auto
obstacle_ptr
=
GetObstacle
WithLRUUpdate
(
id
);
if
(
obstacle_ptr
!=
nullptr
)
{
obstacle_ptr
->
InsertFeature
(
feature
);
}
else
{
...
...
@@ -274,7 +283,7 @@ void ObstaclesContainer::BuildLaneGraph() {
void
ObstaclesContainer
::
BuildJunctionFeature
()
{
// Go through every obstacle in the current frame, after some
// sanit checks, build junction features for those that are in junction.
// sanit
y
checks, build junction features for those that are in junction.
for
(
const
int
id
:
curr_frame_predictable_obstacle_ids_
)
{
Obstacle
*
obstacle_ptr
=
GetObstacle
(
id
);
if
(
obstacle_ptr
==
nullptr
)
{
...
...
modules/prediction/container/obstacles/obstacles_container.h
浏览文件 @
9e9d58e9
...
...
@@ -103,6 +103,7 @@ class ObstaclesContainer : public Container {
size_t
NumOfObstacles
()
{
return
ptr_obstacles_
.
size
();
}
private:
Obstacle
*
GetObstacleWithLRUUpdate
(
const
int
obstacle_id
);
/**
* @brief Check if a perception_obstacle is an old existed obstacle
* @param A PerceptionObstacle
...
...
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