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体验新版 GitCode,发现更多精彩内容 >>
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bfee9ddd
编写于
8月 29, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
8月 29, 2017
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差异文件
Planning: cleaned up unused 'using' and removed function to directly get vehicle_pose in frame.
上级
e51c9998
变更
7
隐藏空白更改
内联
并排
Showing
7 changed file
with
7 addition
and
14 deletion
+7
-14
modules/planning/common/frame.cc
modules/planning/common/frame.cc
+0
-2
modules/planning/common/frame.h
modules/planning/common/frame.h
+0
-1
modules/planning/planner/em/decider.cc
modules/planning/planner/em/decider.cc
+1
-1
modules/planning/planner/em/em_planner.cc
modules/planning/planner/em/em_planner.cc
+0
-1
modules/planning/reference_line/reference_line.cc
modules/planning/reference_line/reference_line.cc
+5
-6
modules/planning/tasks/traffic_decider/traffic_decider.cc
modules/planning/tasks/traffic_decider/traffic_decider.cc
+0
-2
modules/planning/trajectory_stitcher/trajectory_stitcher.cc
modules/planning/trajectory_stitcher/trajectory_stitcher.cc
+1
-1
未找到文件。
modules/planning/common/frame.cc
浏览文件 @
bfee9ddd
...
...
@@ -53,8 +53,6 @@ void Frame::SetVehicleInitPose(const localization::Pose &pose) {
init_pose_
=
pose
;
}
const
localization
::
Pose
&
Frame
::
VehicleInitPose
()
const
{
return
init_pose_
;
}
void
Frame
::
SetRoutingResponse
(
const
routing
::
RoutingResponse
&
routing
)
{
routing_response_
=
routing
;
}
...
...
modules/planning/common/frame.h
浏览文件 @
bfee9ddd
...
...
@@ -70,7 +70,6 @@ class Frame {
ADCTrajectory
*
MutableADCTrajectory
();
const
PublishableTrajectory
&
computed_trajectory
()
const
;
const
localization
::
Pose
&
VehicleInitPose
()
const
;
const
routing
::
RoutingResponse
&
routing_response
()
const
;
...
...
modules/planning/planner/em/decider.cc
浏览文件 @
bfee9ddd
...
...
@@ -15,7 +15,7 @@
*****************************************************************************/
/**
* @file
decider.cpp
* @file
**/
#include <limits>
...
...
modules/planning/planner/em/em_planner.cc
浏览文件 @
bfee9ddd
...
...
@@ -48,7 +48,6 @@ using common::ErrorCode;
using
common
::
SpeedPoint
;
using
common
::
SLPoint
;
using
common
::
TrajectoryPoint
;
using
common
::
VehicleState
;
using
common
::
math
::
Vec2d
;
void
EMPlanner
::
RegisterTasks
()
{
...
...
modules/planning/reference_line/reference_line.cc
浏览文件 @
bfee9ddd
...
...
@@ -96,13 +96,12 @@ ReferencePoint ReferenceLine::GetReferencePoint(const double s) const {
if
(
it_lower
==
accumulated_s
.
begin
())
{
return
reference_points_
.
front
();
}
else
{
std
::
uint32_t
index
=
static_cast
<
std
::
uint32_t
>
(
it_lower
-
accumulated_s
.
begin
());
auto
p0
=
reference_points_
[
index
-
1
];
auto
p1
=
reference_points_
[
index
];
auto
index
=
std
::
distance
(
accumulated_s
.
begin
(),
it_lower
);
const
auto
&
p0
=
reference_points_
[
index
-
1
];
const
auto
&
p1
=
reference_points_
[
index
];
auto
s0
=
accumulated_s
[
index
-
1
];
auto
s1
=
accumulated_s
[
index
];
const
double
s0
=
accumulated_s
[
index
-
1
];
const
double
s1
=
accumulated_s
[
index
];
return
Interpolate
(
p0
,
s0
,
p1
,
s1
,
s
);
}
...
...
modules/planning/tasks/traffic_decider/traffic_decider.cc
浏览文件 @
bfee9ddd
...
...
@@ -21,14 +21,12 @@
#include "modules/planning/tasks/traffic_decider/traffic_decider.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/vehicle_state/vehicle_state.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/tasks/traffic_decider/back_side_vehicles.h"
namespace
apollo
{
namespace
planning
{
using
::
apollo
::
common
::
Status
;
using
::
apollo
::
common
::
VehicleState
;
using
::
apollo
::
common
::
VehicleConfigHelper
;
TrafficDecider
::
TrafficDecider
()
:
Task
(
"TrafficDecider"
)
{}
...
...
modules/planning/trajectory_stitcher/trajectory_stitcher.cc
浏览文件 @
bfee9ddd
...
...
@@ -96,7 +96,7 @@ TrajectoryStitcher::ComputeStitchingTrajectory(
}
auto
matched_point
=
prev_trajectory
.
TrajectoryPointAt
(
matched_index
);
double
position_diff
=
const
double
position_diff
=
common
::
math
::
Vec2d
(
matched_point
.
path_point
().
x
()
-
VehicleState
::
instance
()
->
x
(),
matched_point
.
path_point
().
y
()
-
VehicleState
::
instance
()
->
y
())
...
...
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