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提交 a8f57d3e 编写于 作者: Z Zhang Liangliang 提交者： Dong Li
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Planning: fixed a bug in dp sampler.

上级 af123a65
展开全部 隐藏空白更改
内联 并排
Showing with 1833 addition and 1832 deletion
modules/planning/tasks/dp_poly_path/dp_road_graph.cc
浏览文件 @ a8f57d3e
......@@ -285,11 +285,12 @@ bool DPRoadGraph::SamplePathWaypoints(
planning_internal::SampleLayerDebug sample_layer_debug;
for (uint8_t j = 0; j < sample_l.size(); ++j) {
const double l = sample_l[j];
constexpr double kResonateDistance = 2.0;
common::SLPoint sl;
if (j % 2 == 0 || total_length - accumulated_s < level_distance) {
if (j % 2 == 0 ||
total_length - accumulated_s < 2.0 * kResonateDistance) {
sl = common::util::MakeSLPoint(s, l);
} else {
constexpr double kResonateDistance = 2.0;
sl = common::util::MakeSLPoint(
std::fmin(total_length, s + kResonateDistance), l);
}
......
modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
浏览文件 @ a8f57d3e
......@@ -1072,10 +1072,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587313.85431584972
y: 4141164.9494539741
theta: -1.8167000824290265
kappa: 9.20894485210165e-05
x: 587313.85432077316
y: 4141164.9494527387
theta: -1.81669274382401
kappa: 9.8885574494799591e-05
s: 42.800527973713571
dkappa: 0
ddkappa: 0
......@@ -1086,10 +1086,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587313.55025933741
y: 4141163.7376740361
theta: -1.8165969899010481
kappa: 1.1678781096967683e-05
x: 587313.55027318362
y: 4141163.7376705618
theta: -1.8165775142151039
kappa: 2.9173123475687028e-05
s: 44.049872194033384
dkappa: 0
ddkappa: 0
......@@ -1100,10 +1100,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587313.2461773603
y: 4141162.5256228773
theta: -1.8166563431470069
kappa: -4.2769587413352514e-05
x: 587313.24623951653
y: 4141162.5256072837
theta: -1.8166084557758158
kappa: -1.9270760435692361e-05
s: 45.299485678626141
dkappa: 0
ddkappa: 0
......@@ -1114,10 +1114,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587312.94198386045
y: 4141161.3134378996
theta: -1.8167384104006539
kappa: -8.7184547516673191e-05
x: 587312.94212160492
y: 4141161.3134033382
theta: -1.8166587938363949
kappa: -5.9434267922919155e-05
s: 46.549256102753354
dkappa: 0
ddkappa: 0
......@@ -1128,10 +1128,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587312.63767147937
y: 4141160.1011974956
theta: -1.8168510605423132
kappa: -0.00011808189122106752
x: 587312.63792154274
y: 4141160.101134744
theta: -1.8167352500127896
kappa: -8.8441589993344316e-05
s: 47.79910922280505
dkappa: 0
ddkappa: 0
......@@ -1142,10 +1142,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587312.33310540486
y: 4141158.8889712933
theta: -1.8170231430388366
kappa: -0.0001321178445973922
x: 587312.33352688607
y: 4141158.8888654849
theta: -1.8168709250040314
kappa: -0.00010339914613973549
s: 49.049010367839024
dkappa: 0
ddkappa: 0
......@@ -1156,10 +1156,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587312.02840432571
y: 4141157.6767422426
theta: -1.8172015303093787
kappa: -0.00013869977560687565
x: 587312.02902456012
y: 4141157.67658649
theta: -1.8170141767896548
kappa: -0.00011210346407018324
s: 50.298947181911721
dkappa: 0
ddkappa: 0
......@@ -1170,10 +1170,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587311.723438367
y: 4141156.4645524714
theta: -1.8173585105273191
kappa: -0.00013190028874765684
x: 587311.72430839879
y: 4141156.4643339016
theta: -1.8171405455099927
kappa: -0.00010951278431982483
s: 51.5489104923449
dkappa: 0
ddkappa: 0
......@@ -1184,10 +1184,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587311.41827379738
y: 4141155.2523934646
theta: -1.8175168009140523
kappa: -0.00011625947410708488
x: 587311.41942477343
y: 4141155.2521041986
theta: -1.817274803059066
kappa: -9.9321007242876471e-05
s: 52.798892450665285
dkappa: 0
ddkappa: 0
......@@ -1198,10 +1198,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587311.11298430921
y: 4141154.0402534907
theta: -1.8176737724772731
kappa: -9.5044910186094957e-05
x: 587311.11443554435
y: 4141154.0398886404
theta: -1.8174120299235446
kappa: -8.4330535994086762e-05
s: 54.048886446243387
dkappa: 0
ddkappa: 0
......@@ -1212,10 +1212,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587310.807471798
y: 4141152.8281629253
theta: -1.817749401957655
kappa: -6.3111585372437547e-05
x: 587310.8092486466
y: 4141152.8277160488
theta: -1.817481343481284
kappa: -5.9861466564182039e-05
s: 55.298887019932259
dkappa: 0
ddkappa: 0
......@@ -1226,10 +1226,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587310.50191281969
y: 4141151.6160818213
theta: -1.8177944742437078
kappa: -2.7839694968100268e-05
x: 587310.50401412824
y: 4141151.615553197
theta: -1.8175267347269004
kappa: -3.2292396108186577e-05
s: 56.548889777706378
dkappa: 0
ddkappa: 0
......@@ -1240,10 +1240,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587310.19629201374
y: 4141150.4040175742
theta: -1.8177982150045213
kappa: 1.1947789836117336e-05
x: 587310.19871622161
y: 4141150.403407577
theta: -1.8175397692463373
kappa: -5.3045312923424268e-07
s: 57.79889130430039
dkappa: 0
ddkappa: 0
......@@ -1254,10 +1254,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587309.89071316319
y: 4141149.19194662
theta: -1.8177560586317383
kappa: 5.5623698765255693e-05
x: 587309.89343255269
y: 4141149.1912622419
theta: -1.8175201233087246
kappa: 3.5243122936584362e-05
s: 59.048889076847964
dkappa: 0
ddkappa: 0
......@@ -1268,10 +1268,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587309.58519316337
y: 4141147.9798664767
theta: -1.8176771913489858
kappa: 0.00010047764032346529
x: 587309.58818747813
y: 4141147.9791128309
theta: -1.8174699454654324
kappa: 7.2414349421701942e-05
s: 60.298881378520548
dkappa: 0
ddkappa: 0
......@@ -1282,10 +1282,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587309.279843036
y: 4141146.7677501934
theta: -1.8175053233331622
kappa: 0.00014654823414587519
x: 587309.28306271
y: 4141146.7669397988
theta: -1.8173384036602105
kappa: 0.00011146935087400709
s: 61.548867212166215
dkappa: 0
ddkappa: 0
......@@ -1296,10 +1296,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587308.97474324307
y: 4141145.5555779357
theta: -1.8172942985267291
kappa: 0.00019163869022462994
x: 587308.97813149286
y: 4141145.5547251175
theta: -1.8171755629751503
kappa: 0.00015052547164849003
s: 62.798846213948465
dkappa: 0
ddkappa: 0
......@@ -1310,10 +1310,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587308.669808404
y: 4141144.3433710146
theta: -1.8170569779354919
kappa: 0.00023602464839245885
x: 587308.67332836718
y: 4141144.34248507
theta: -1.8169913619471274
kappa: 0.00018952264775659835
s: 64.048818566985
dkappa: 0
ddkappa: 0
......@@ -1324,10 +1324,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587308.3654285752
y: 4141143.1310308026
theta: -1.8167095034995395
kappa: 0.00027581297511999046
x: 587308.36897115712
y: 4141143.1301391786
theta: -1.8167055187766388
kappa: 0.00022614842174080197
s: 65.298784914986584
dkappa: 0
ddkappa: 0
......@@ -1338,10 +1338,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587308.06135645311
y: 4141141.9186185733
theta: -1.8163431046978631
kappa: 0.000312269789600637
x: 587308.06486909452
y: 4141141.9177344418
theta: -1.8164022156429209
kappa: 0.000260712406299386
s: 66.54874627589578
dkappa: 0
ddkappa: 0
......@@ -1352,10 +1352,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587307.757701116
y: 4141140.7061056304
theta: -1.8159510259688463
kappa: 0.00034420607221572646
x: 587307.76111248217
y: 4141140.7052468657
theta: -1.8160752209206421
kappa: 0.00029247890467037885
s: 67.798703955525838
dkappa: 0
ddkappa: 0
......@@ -1366,10 +1366,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587307.45474253967
y: 4141139.4934206931
theta: -1.8154924089088862
kappa: 0.000367080801371391
x: 587307.4579501549
y: 4141139.492612836
theta: -1.8156790099370981
kappa: 0.00031823608288787024
s: 69.048659461199449
dkappa: 0
ddkappa: 0
......@@ -1380,10 +1380,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587307.152139798
y: 4141138.2806475032
theta: -1.815019281555613
kappa: 0.00038485655986155571
x: 587307.15509705793
y: 4141138.2799021262
theta: -1.8152651738355174
kappa: 0.00034053420640208079
s: 70.2986144153875
dkappa: 0
ddkappa: 0
......@@ -1394,10 +1394,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587306.85025468608
y: 4141137.0676942822
theta: -1.8145450795174802
kappa: 0.00039166151524533
x: 587306.85287584946
y: 4141137.067032604
theta: -1.814841444126811
kappa: 0.00035528808444818585
s: 71.548570469348078
dkappa: 0
ddkappa: 0
......@@ -1408,10 +1408,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587306.5489624904
y: 4141135.8545909654
theta: -1.8140562605334021
kappa: 0.00038768943043188109
x: 587306.55119804444
y: 4141135.8540251087
theta: -1.8143900558852362
kappa: 0.000362461758383995
s: 72.798529216764976
dkappa: 0
ddkappa: 0
......@@ -1422,10 +1422,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587306.24804873019
y: 4141134.6413893681
theta: -1.8135601997973627
kappa: 0.00037673567879515469
x: 587306.24986813113
y: 4141134.6409268063
theta: -1.8139228099700491
kappa: 0.000364719657521873
s: 74.0484921073868
dkappa: 0
ddkappa: 0
......@@ -1436,10 +1436,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587305.948020603
y: 4141133.4279629141
theta: -1.8131295449834457
kappa: 0.00034584163554666824
x: 587305.9493960673
y: 4141133.4276102055
theta: -1.8134898501824368
kappa: 0.0003527373248783948
s: 75.298460360665572
dkappa: 0
ddkappa: 0
......@@ -1450,10 +1450,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587305.64832547028
y: 4141132.2144477875
theta: -1.8127238681459605
kappa: 0.00030497195785077018
x: 587305.64927617041
y: 4141132.2142000673
theta: -1.8130631312644738
kappa: 0.00033355119981521165
s: 76.548434879395629
dkappa: 0
ddkappa: 0
......@@ -1464,10 +1464,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587305.34908425761
y: 4141131.0008136146
theta: -1.8123522087135771
kappa: 0.00025051677980882255
x: 587305.34963628429
y: 4141131.000664263
theta: -1.8126449118296368
kappa: 0.00030455486525749777
s: 77.798416163352371
dkappa: 0
ddkappa: 0
......@@ -1478,10 +1478,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587305.05031418812
y: 4141129.7870564125
theta: -1.8120920487878234
kappa: 0.00017407628150808337
x: 587305.05058641988
y: 4141129.78697598
theta: -1.8122903919708493
kappa: 0.00025954931136036238
s: 79.048404222931154
dkappa: 0
ddkappa: 0
......@@ -1492,10 +1492,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587304.75118079549
y: 4141128.5733826119
theta: -1.8125862843703986
kappa: -0.00036291343538473133
x: 587304.751781221
y: 4141128.5732210311
theta: -1.8119815385908733
kappa: 0.00020622491866658597
s: 80.298398492786
dkappa: 0
ddkappa: 0
......@@ -1506,10 +1506,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587304.45043261442
y: 4141127.3601024863
theta: -1.8156242096965749
kappa: -0.0024872491281828593
x: 587304.45338956325
y: 4141127.3593591978
theta: -1.8117840741212583
kappa: 0.00013590446591229624
s: 81.548397745468463
dkappa: 0
ddkappa: 0
......@@ -1520,10 +1520,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587304.14555798355
y: 4141126.1478540963
theta: -1.8182613689891891
kappa: -0.0020046610597382951
x: 587304.15217426221
y: 4141126.1461939691
theta: -1.8152938168849027
kappa: -0.0017687378115317277
s: 82.798400005066441
dkappa: 0
ddkappa: 0
......@@ -1534,10 +1534,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587303.83818774321
y: 4141124.9362313515
theta: -1.8205450316964054
kappa: 5.761264185934862e-05
x: 587303.84905503772
y: 4141124.9335014555
theta: -1.8209186802039248
kappa: -0.0045813925137864284
s: 84.048402460842922
dkappa: 0
ddkappa: 0
......@@ -1548,10 +1548,10 @@ trajectory_point {
}
trajectory_point {
path_point {
x: 587303.53086840548
y: 4141123.7245993428
theta: -1.8180699886456426
kappa: 0.0022088214230678344
x: 587303.5375653425
y: 4141123.7229348649
theta: -1.8210572723052669
kappa: 0.0012481245835080095
s: 85.298401380874878
dkappa: 0
ddkappa: 0
......
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