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体验新版 GitCode,发现更多精彩内容 >>
提交
ab547bef
编写于
8月 15, 2017
作者:
J
jiangyifei
提交者:
Jiangtao Hu
8月 15, 2017
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电子邮件补丁
差异文件
[planning] updated qp path with new config pb
上级
21883ebc
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
1 addition
and
24 deletion
+1
-24
modules/planning/common/planning_gflags.cc
modules/planning/common/planning_gflags.cc
+0
-3
modules/planning/common/planning_gflags.h
modules/planning/common/planning_gflags.h
+0
-1
modules/planning/conf/qp_spline_path_config.pb.txt
modules/planning/conf/qp_spline_path_config.pb.txt
+0
-12
modules/planning/integration_tests/planning_test_base.cc
modules/planning/integration_tests/planning_test_base.cc
+0
-2
modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer.cc
...ning/optimizer/qp_spline_path/qp_spline_path_optimizer.cc
+1
-6
未找到文件。
modules/planning/common/planning_gflags.cc
浏览文件 @
ab547bef
...
...
@@ -336,9 +336,6 @@ DEFINE_string(planning_config_file,
"modules/planning/conf/planning_config.pb.txt"
,
"planning config file"
);
DEFINE_string
(
qp_spline_path_config_file
,
"modules/planning/conf/qp_spline_path_config.pb.txt"
,
"Qp spline path config file"
);
DEFINE_string
(
st_boundary_config_file
,
"modules/planning/conf/st_boundary_config_file.pb.txt"
,
"The config file for st_boundary_config."
);
...
...
modules/planning/common/planning_gflags.h
浏览文件 @
ab547bef
...
...
@@ -221,7 +221,6 @@ DECLARE_double(max_deacceleration_for_yellow_light_stop);
DECLARE_string
(
reference_line_smoother_config_file
);
// Optimizers
DECLARE_string
(
qp_spline_path_config_file
);
DECLARE_string
(
st_boundary_config_file
);
DECLARE_string
(
qp_spline_st_speed_config_file
);
...
...
modules/planning/conf/qp_spline_path_config.pb.txt
已删除
100644 → 0
浏览文件 @
21883ebc
spline_order: 6
number_of_knots: 6
number_of_fx_constraint_knots: 13
time_resolution: 0.1
regularization_weight: 0.1
derivative_weight: 1.0
second_derivative_weight: 0.0
third_derivative_weight: 10.0
reference_line_weight: 0.0
num_refline_point: 10
num_output: 100
cross_lane_extension_buffer: 1.0
\ No newline at end of file
modules/planning/integration_tests/planning_test_base.cc
浏览文件 @
ab547bef
...
...
@@ -36,8 +36,6 @@ DEFINE_string(test_chassis_file,
DEFINE_string
(
test_prediction_file
,
""
,
"The prediction module test file"
);
void
PlanningTestBase
::
SetUpTestCase
()
{
FLAGS_qp_spline_path_config_file
=
"modules/planning/testdata/conf/qp_spline_path_config.pb.txt"
;
FLAGS_qp_spline_st_speed_config_file
=
"modules/planning/testdata/conf/qp_spline_st_speed_config_file.pb.txt"
;
FLAGS_st_boundary_config_file
=
...
...
modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer.cc
浏览文件 @
ab547bef
...
...
@@ -34,12 +34,7 @@ QpSplinePathOptimizer::QpSplinePathOptimizer(const std::string& name)
:
PathOptimizer
(
name
)
{}
bool
QpSplinePathOptimizer
::
Init
(
const
PlanningConfig
&
config
)
{
if
(
!
common
::
util
::
GetProtoFromFile
(
FLAGS_qp_spline_path_config_file
,
&
qp_spline_path_config_
))
{
AERROR
<<
"Failed to load config file for path generator. config file: "
<<
FLAGS_qp_spline_path_config_file
;
return
false
;
}
qp_spline_path_config_
=
config
.
em_planner_config
().
qp_spline_path_config
();
is_init_
=
true
;
return
true
;
}
...
...
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