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体验新版 GitCode,发现更多精彩内容 >>
提交
c29a40ef
编写于
1月 21, 2019
作者:
知行合一2018
提交者:
Yifei Jiang
1月 21, 2019
浏览文件
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电子邮件补丁
差异文件
Planning: Migrated NaviPlanner to the CyberRT framework.
上级
6fe408ab
变更
6
隐藏空白更改
内联
并排
Showing
6 changed file
with
19 addition
and
34 deletion
+19
-34
modules/planning/conf/navi_traffic_rule_config.pb.txt
modules/planning/conf/navi_traffic_rule_config.pb.txt
+0
-23
modules/planning/conf/planning_config_navi.pb.txt
modules/planning/conf/planning_config_navi.pb.txt
+2
-0
modules/planning/conf/planning_navi.conf
modules/planning/conf/planning_navi.conf
+3
-3
modules/planning/planner/navi_planner_dispatcher.cc
modules/planning/planner/navi_planner_dispatcher.cc
+1
-1
modules/planning/planner/navi_planner_dispatcher_test.cc
modules/planning/planner/navi_planner_dispatcher_test.cc
+1
-1
modules/planning/planner/planner_dispatcher.cc
modules/planning/planner/planner_dispatcher.cc
+12
-6
未找到文件。
modules/planning/conf/navi_traffic_rule_config.pb.txt
浏览文件 @
c29a40ef
...
...
@@ -106,26 +106,3 @@ config: {
}
}
}
config: {
rule_id: STOP_SIGN
enabled: true
stop_sign {
stop_distance: 1.0
min_pass_s_distance: 3.0
max_stop_speed: 0.3
max_valid_stop_distance: 3.5
stop_duration : 1.0
watch_vehicle_max_valid_stop_speed: 0.5
watch_vehicle_max_valid_stop_distance: 5.0
wait_timeout: 8.0
creep {
enabled: true
creep_distance_to_stop_line: 1.5
stop_distance: 0.3
speed_limit: 1.0
max_valid_stop_distance: 0.4
min_boundary_t: 6.0
}
}
}
modules/planning/conf/planning_config_navi.pb.txt
浏览文件 @
c29a40ef
navigation_planning_config {
planner_type : NAVI
planner_navi_config {
task : NAVI_PATH_DECIDER
...
...
@@ -56,3 +57,4 @@ planner_navi_config {
max_keep_nudge_cycles : 110
}
}
}
modules/planning/conf/planning_navi.conf
浏览文件 @
c29a40ef
--
flagfile
=
modules
/
planning
/
conf
/
planning
.
conf
--
planning_config_file
=
modules
/
planning
/
conf
/
planning_config_navi
.
pb
.
txt
--
traffic_rule_config_filename
=
modules
/
planning
/
conf
/
navi_traffic_rule_config
.
pb
.
txt
--
flagfile
=
/
apollo
/
modules
/
planning
/
conf
/
planning
.
conf
--
planning_config_file
=
/
apollo
/
modules
/
planning
/
conf
/
planning_config_navi
.
pb
.
txt
--
traffic_rule_config_filename
=
/
apollo
/
modules
/
planning
/
conf
/
navi_traffic_rule_config
.
pb
.
txt
--
planning_upper_speed_limit
=
24
.
587
--
noenable_nudge_decision
--
replan_lateral_distance_threshold
=
0
.
5
...
...
modules/planning/planner/navi_planner_dispatcher.cc
浏览文件 @
c29a40ef
...
...
@@ -22,7 +22,7 @@ namespace apollo {
namespace
planning
{
std
::
unique_ptr
<
Planner
>
NaviPlannerDispatcher
::
DispatchPlanner
()
{
return
planner_factory_
.
CreateObject
(
P
UBLIC_ROAD
);
return
planner_factory_
.
CreateObject
(
P
lannerType
::
NAVI
);
}
}
// namespace planning
...
...
modules/planning/planner/navi_planner_dispatcher_test.cc
浏览文件 @
c29a40ef
...
...
@@ -39,7 +39,7 @@ TEST_F(NaviPlannerDispatcherTest, Simple) {
pd_
.
reset
(
new
NaviPlannerDispatcher
());
pd_
->
Init
();
auto
planner
=
pd_
->
DispatchPlanner
();
EXPECT_EQ
(
planner
->
Name
(),
"
PUBLIC_ROAD
"
);
EXPECT_EQ
(
planner
->
Name
(),
"
NAVI
"
);
}
}
// namespace planning
...
...
modules/planning/planner/planner_dispatcher.cc
浏览文件 @
c29a40ef
...
...
@@ -19,6 +19,7 @@
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/planner/lattice/lattice_planner.h"
#include "modules/planning/planner/navi/navi_planner.h"
#include "modules/planning/planner/open_space/open_space_planner.h"
#include "modules/planning/planner/public_road/public_road_planner.h"
#include "modules/planning/planner/rtk/rtk_replay_planner.h"
...
...
@@ -28,13 +29,18 @@ namespace planning {
void
PlannerDispatcher
::
RegisterPlanners
()
{
planner_factory_
.
Register
(
RTK
,
[]()
->
Planner
*
{
return
new
RTKReplayPlanner
();
});
planner_factory_
.
Register
(
PUBLIC_ROAD
,
[]()
->
Planner
*
{
return
new
PublicRoadPlanner
();
});
planner_factory_
.
Register
(
LATTICE
,
PlannerType
::
RTK
,
[]()
->
Planner
*
{
return
new
RTKReplayPlanner
();
});
planner_factory_
.
Register
(
PlannerType
::
PUBLIC_ROAD
,
[]()
->
Planner
*
{
return
new
PublicRoadPlanner
();
});
planner_factory_
.
Register
(
PlannerType
::
LATTICE
,
[]()
->
Planner
*
{
return
new
LatticePlanner
();
});
planner_factory_
.
Register
(
OPEN_SPACE
,
[]()
->
Planner
*
{
return
new
OpenSpacePlanner
();
});
planner_factory_
.
Register
(
PlannerType
::
OPEN_SPACE
,
[]()
->
Planner
*
{
return
new
OpenSpacePlanner
();
});
planner_factory_
.
Register
(
PlannerType
::
NAVI
,
[]()
->
Planner
*
{
return
new
NaviPlanner
();
});
}
}
// namespace planning
...
...
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