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体验新版 GitCode,发现更多精彩内容 >>
提交
be0290e1
编写于
2月 15, 2018
作者:
J
Jiangtao Hu
提交者:
Qi Luo
2月 16, 2018
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差异文件
common: skip localization pose update in case of use_navigation_mode.
上级
d2115edf
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
16 addition
and
1 deletion
+16
-1
modules/common/vehicle_state/BUILD
modules/common/vehicle_state/BUILD
+1
-0
modules/common/vehicle_state/vehicle_state_provider.cc
modules/common/vehicle_state/vehicle_state_provider.cc
+12
-0
modules/common/vehicle_state/vehicle_state_provider.h
modules/common/vehicle_state/vehicle_state_provider.h
+2
-0
modules/localization/proto/localization.proto
modules/localization/proto/localization.proto
+1
-1
未找到文件。
modules/common/vehicle_state/BUILD
浏览文件 @
be0290e1
...
...
@@ -13,6 +13,7 @@ cc_library(
deps
=
[
"//modules/common:log"
,
"//modules/common:macro"
,
"//modules/common/configs:config_gflags"
,
"//modules/common/math:box2d"
,
"//modules/common/math:quaternion"
,
"//modules/common/proto:vehicle_state_proto"
,
...
...
modules/common/vehicle_state/vehicle_state_provider.cc
浏览文件 @
be0290e1
...
...
@@ -20,6 +20,7 @@
#include "Eigen/Core"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/log.h"
#include "modules/common/math/euler_angles_zxy.h"
#include "modules/common/math/quaternion.h"
...
...
@@ -34,6 +35,7 @@ VehicleStateProvider::VehicleStateProvider() {}
Status
VehicleStateProvider
::
Update
(
const
localization
::
LocalizationEstimate
&
localization
,
const
canbus
::
Chassis
&
chassis
)
{
original_localization_
=
localization
;
if
(
!
ConstructExceptLinearVelocity
(
localization
))
{
std
::
string
msg
=
util
::
StrCat
(
"Fail to update because ConstructExceptLinearVelocity error."
,
...
...
@@ -68,6 +70,12 @@ bool VehicleStateProvider::ConstructExceptLinearVelocity(
AERROR
<<
"Invalid localization input."
;
return
false
;
}
// skip localization update when it is in use_navigation_mode.
if
(
FLAGS_use_navigation_mode
)
{
ADEBUG
<<
"Skip localization update when it is in use_navigation_mode."
;
return
true
;
}
vehicle_state_
.
mutable_pose
()
->
CopyFrom
(
localization
.
pose
());
if
(
localization
.
pose
().
has_position
())
{
vehicle_state_
.
set_x
(
localization
.
pose
().
position
().
x
());
...
...
@@ -172,6 +180,10 @@ const localization::Pose &VehicleStateProvider::pose() const {
return
vehicle_state_
.
pose
();
}
const
localization
::
Pose
&
VehicleStateProvider
::
original_pose
()
const
{
return
original_localization_
.
pose
();
}
void
VehicleStateProvider
::
set_linear_velocity
(
const
double
linear_velocity
)
{
vehicle_state_
.
set_linear_velocity
(
linear_velocity
);
}
...
...
modules/common/vehicle_state/vehicle_state_provider.h
浏览文件 @
be0290e1
...
...
@@ -67,6 +67,7 @@ class VehicleStateProvider {
double
timestamp
()
const
;
const
localization
::
Pose
&
pose
()
const
;
const
localization
::
Pose
&
original_pose
()
const
;
/**
* @brief Default destructor.
...
...
@@ -176,6 +177,7 @@ class VehicleStateProvider {
const
localization
::
LocalizationEstimate
&
localization
);
common
::
VehicleState
vehicle_state_
;
localization
::
LocalizationEstimate
original_localization_
;
DECLARE_SINGLETON
(
VehicleStateProvider
);
};
...
...
modules/localization/proto/localization.proto
浏览文件 @
be0290e1
...
...
@@ -51,7 +51,7 @@ message LocalizationEstimate {
// The time of pose measurement, seconds since the GPS epoch (Jan 6, 1980).
optional
double
measurement_time
=
4
;
// In seconds.
// Future trajectory acturally driven by the drivers
repeated
apollo.common.TrajectoryPoint
trajectory_point
=
5
;
}
...
...
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