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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
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c03a22db
编写于
8月 02, 2017
作者:
Z
Zhang Liangliang
提交者:
Jiangtao Hu
8月 02, 2017
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电子邮件补丁
差异文件
used different evaluation and konts number for qp_spline_st_speed
上级
c968a44d
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
27 addition
and
7 deletion
+27
-7
modules/planning/conf/qp_spline_st_speed_config_file.pb.txt
modules/planning/conf/qp_spline_st_speed_config_file.pb.txt
+2
-2
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc
...anning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc
+20
-4
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.h
...lanning/optimizer/qp_spline_st_speed/qp_spline_st_graph.h
+5
-1
未找到文件。
modules/planning/conf/qp_spline_st_speed_config_file.pb.txt
浏览文件 @
c03a22db
...
...
@@ -2,8 +2,8 @@ total_path_length: 80.0
total_time: 8.0
output_time_resolution: 0.05
number_of_discrete_graph_s: 80
number_of_discrete_graph_t:
2
0
number_of_evaluated_graph_t: 1
0
number_of_discrete_graph_t:
1
0
number_of_evaluated_graph_t: 1
5
spline_order: 6
speed_kernel_weight: 0.0
accel_kernel_weight: 0.0
...
...
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.cc
浏览文件 @
c03a22db
...
...
@@ -37,17 +37,32 @@ QpSplineStGraph::QpSplineStGraph(
const
QpSplineStSpeedConfig
&
qp_spline_st_speed_config
,
const
apollo
::
common
::
VehicleParam
&
veh_param
)
:
qp_spline_st_speed_config_
(
qp_spline_st_speed_config
),
time_resolution_
(
time_resolution_
(
qp_spline_st_speed_config_
.
total_time
()
/
qp_spline_st_speed_config_
.
number_of_discrete_graph_t
()),
evaluation_time_resolution_
(
qp_spline_st_speed_config_
.
total_time
()
/
qp_spline_st_speed_config_
.
number_of_discrete_graph_t
())
{}
qp_spline_st_speed_config_
.
number_of_evaluated_graph_t
())
{}
void
QpSplineStGraph
::
Init
()
{
// init knots
double
curr_t
=
0.0
;
for
(
uint32_t
i
=
0
;
i
<=
qp_spline_st_speed_config_
.
number_of_discrete_graph_t
();
++
i
)
{
t_knots_
.
push_back
(
curr_t
);
curr_t
+=
time_resolution_
;
}
// init evaluated t positions
curr_t
=
0.0
;
for
(
uint32_t
i
=
0
;
i
<=
qp_spline_st_speed_config_
.
number_of_evaluated_graph_t
();
++
i
)
{
t_evaluated_
.
push_back
(
curr_t
);
curr_t
+=
evaluation_time_resolution_
;
}
// init spline generator
spline_generator_
.
reset
(
new
Spline1dGenerator
(
t_knots_
,
qp_spline_st_speed_config_
.
spline_order
()));
}
...
...
@@ -156,7 +171,7 @@ Status QpSplineStGraph::ApplyConstraint(
std
::
vector
<
double
>
s_upper_bound
;
std
::
vector
<
double
>
s_lower_bound
;
for
(
const
double
curr_t
:
t_
knots
_
)
{
for
(
const
double
curr_t
:
t_
evaluated
_
)
{
double
lower_s
=
0.0
;
double
upper_s
=
0.0
;
GetSConstraintByTime
(
boundaries
,
curr_t
,
...
...
@@ -165,7 +180,8 @@ Status QpSplineStGraph::ApplyConstraint(
s_upper_bound
.
push_back
(
upper_s
);
s_lower_bound
.
push_back
(
lower_s
);
}
if
(
!
constraint
->
add_fx_boundary
(
t_knots_
,
s_lower_bound
,
s_upper_bound
))
{
if
(
!
constraint
->
add_fx_boundary
(
t_evaluated_
,
s_lower_bound
,
s_upper_bound
))
{
const
std
::
string
msg
=
"Fail to apply obstacle constraint"
;
AERROR
<<
msg
;
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
msg
);
...
...
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.h
浏览文件 @
c03a22db
...
...
@@ -92,8 +92,12 @@ class QpSplineStGraph {
// time resolution
double
time_resolution_
=
0.0
;
//
t_
knots
// knots
std
::
vector
<
double
>
t_knots_
;
double
evaluation_time_resolution_
=
0.0
;
// evaluated points
std
::
vector
<
double
>
t_evaluated_
;
};
}
// namespace planning
...
...
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