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体验新版 GitCode,发现更多精彩内容 >>
提交
c629c17d
编写于
1月 22, 2019
作者:
J
JasonZhou404
提交者:
Qi Luo
1月 22, 2019
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差异文件
Planning: OpenSpace: change proto name
上级
88cf765e
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
65 addition
and
56 deletion
+65
-56
modules/planning/conf/planner_open_space_config.pb.txt
modules/planning/conf/planner_open_space_config.pb.txt
+12
-12
modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.cc
.../trajectory_smoother/distance_approach_ipopt_interface.cc
+20
-18
modules/planning/proto/planner_open_space_config.proto
modules/planning/proto/planner_open_space_config.proto
+21
-14
modules/planning/testdata/conf/open_space_standard_parking_lot.pb.txt
...ning/testdata/conf/open_space_standard_parking_lot.pb.txt
+12
-12
未找到文件。
modules/planning/conf/planner_open_space_config.pb.txt
浏览文件 @
c629c17d
...
...
@@ -41,18 +41,18 @@ dual_variable_warm_start_config : {
}
distance_approach_config : {
weight_
u
: 0.0
weight_
u
: 0.0
weight_
u
_rate : 0.02
weight_
u
_rate : 0.02
weight_
state
: 1.0
weight_
state
: 1.0
weight_
state
: 2.0
weight_
state
: 0.0
weight_stitching : 0.02
weight_stitching : 0.02
weight_time : 8.0
weight_time : 16.0
weight_
steer
: 0.0
weight_
a
: 0.0
weight_
steer
_rate : 0.02
weight_
a
_rate : 0.02
weight_
x
: 1.0
weight_
y
: 1.0
weight_
phi
: 2.0
weight_
v
: 0.0
weight_st
eer_st
itching : 0.02
weight_
a_
stitching : 0.02
weight_
first_order_
time : 8.0
weight_
second_order_
time : 16.0
min_safety_distance : 0.0
max_speed_forward : 2.0
max_speed_reverse : 1.0
...
...
modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.cc
浏览文件 @
c629c17d
...
...
@@ -70,18 +70,20 @@ DistanceApproachIPOPTInterface::DistanceApproachIPOPTInterface(
planner_open_space_config_
.
CopyFrom
(
planner_open_space_config
);
distance_approach_config_
=
planner_open_space_config_
.
distance_approach_config
();
weight_state_x_
=
distance_approach_config_
.
weight_state
(
0
);
weight_state_y_
=
distance_approach_config_
.
weight_state
(
1
);
weight_state_phi_
=
distance_approach_config_
.
weight_state
(
2
);
weight_state_v_
=
distance_approach_config_
.
weight_state
(
3
);
weight_input_steer_
=
distance_approach_config_
.
weight_u
(
0
);
weight_input_a_
=
distance_approach_config_
.
weight_u
(
1
);
weight_rate_steer_
=
distance_approach_config_
.
weight_u_rate
(
0
);
weight_rate_a_
=
distance_approach_config_
.
weight_u_rate
(
1
);
weight_stitching_steer_
=
distance_approach_config_
.
weight_stitching
(
0
);
weight_stitching_a_
=
distance_approach_config_
.
weight_stitching
(
1
);
weight_first_order_time_
=
distance_approach_config_
.
weight_time
(
0
);
weight_second_order_time_
=
distance_approach_config_
.
weight_time
(
1
);
weight_state_x_
=
distance_approach_config_
.
weight_x
();
weight_state_y_
=
distance_approach_config_
.
weight_y
();
weight_state_phi_
=
distance_approach_config_
.
weight_phi
();
weight_state_v_
=
distance_approach_config_
.
weight_v
();
weight_input_steer_
=
distance_approach_config_
.
weight_steer
();
weight_input_a_
=
distance_approach_config_
.
weight_a
();
weight_rate_steer_
=
distance_approach_config_
.
weight_steer_rate
();
weight_rate_a_
=
distance_approach_config_
.
weight_a_rate
();
weight_stitching_steer_
=
distance_approach_config_
.
weight_steer_stitching
();
weight_stitching_a_
=
distance_approach_config_
.
weight_a_stitching
();
weight_first_order_time_
=
distance_approach_config_
.
weight_first_order_time
();
weight_second_order_time_
=
distance_approach_config_
.
weight_second_order_time
();
min_safety_distance_
=
distance_approach_config_
.
min_safety_distance
();
max_steer_angle_
=
vehicle_param_
.
max_steer_angle
()
/
vehicle_param_
.
steer_ratio
();
...
...
@@ -1317,12 +1319,12 @@ void DistanceApproachIPOPTInterface::finalize_solution(
int
time_index
=
time_start_index_
;
int
dual_l_index
=
l_start_index_
;
int
dual_n_index
=
n_start_index_
;
// 1. state variables, 4 * [0, horizon]
// 2. control variables, 2 * [0, horizon_-1]
// 3. sampling time variables, 1 * [0, horizon_]
// 4. dual_l obstacles_edges_sum_ * [0, horizon]
// 5. dual_n obstacles_num * [0, horizon]
#pragma omp parallel num_threads(4)
// 1. state variables, 4 * [0, horizon]
// 2. control variables, 2 * [0, horizon_-1]
// 3. sampling time variables, 1 * [0, horizon_]
// 4. dual_l obstacles_edges_sum_ * [0, horizon]
// 5. dual_n obstacles_num * [0, horizon]
#pragma omp parallel num_threads(4)
for
(
int
i
=
0
;
i
<
horizon_
;
++
i
)
{
state_result_
(
0
,
i
)
=
x
[
state_index
];
state_result_
(
1
,
i
)
=
x
[
state_index
+
1
];
...
...
modules/planning/proto/planner_open_space_config.proto
浏览文件 @
c629c17d
...
...
@@ -53,20 +53,27 @@ message DualVariableWarmStartConfig {
message
DistanceApproachConfig
{
// Distance approach weight configs
repeated
double
weight_u
=
1
;
repeated
double
weight_u_rate
=
2
;
repeated
double
weight_state
=
3
;
repeated
double
weight_stitching
=
4
;
repeated
double
weight_time
=
5
;
optional
double
min_safety_distance
=
6
[
default
=
0.0
];
optional
double
max_speed_forward
=
7
[
default
=
3.0
];
optional
double
max_speed_reverse
=
8
[
default
=
2.0
];
optional
double
max_acceleration_forward
=
9
[
default
=
2.0
];
optional
double
max_acceleration_reverse
=
10
[
default
=
2.0
];
optional
double
min_time_sample_scaling
=
11
[
default
=
0.1
];
optional
double
max_time_sample_scaling
=
12
[
default
=
10.0
];
optional
bool
use_fix_time
=
13
[
default
=
false
];
optional
IpoptConfig
ipopt_config
=
14
;
optional
double
weight_steer
=
1
;
optional
double
weight_a
=
2
;
optional
double
weight_steer_rate
=
3
;
optional
double
weight_a_rate
=
4
;
optional
double
weight_x
=
5
;
optional
double
weight_y
=
6
;
optional
double
weight_phi
=
7
;
optional
double
weight_v
=
8
;
optional
double
weight_steer_stitching
=
9
;
optional
double
weight_a_stitching
=
10
;
optional
double
weight_first_order_time
=
11
;
optional
double
weight_second_order_time
=
12
;
optional
double
min_safety_distance
=
13
[
default
=
0.0
];
optional
double
max_speed_forward
=
14
[
default
=
3.0
];
optional
double
max_speed_reverse
=
15
[
default
=
2.0
];
optional
double
max_acceleration_forward
=
16
[
default
=
2.0
];
optional
double
max_acceleration_reverse
=
17
[
default
=
2.0
];
optional
double
min_time_sample_scaling
=
18
[
default
=
0.1
];
optional
double
max_time_sample_scaling
=
19
[
default
=
10.0
];
optional
bool
use_fix_time
=
20
[
default
=
false
];
optional
IpoptConfig
ipopt_config
=
21
;
}
message
IpoptConfig
{
...
...
modules/planning/testdata/conf/open_space_standard_parking_lot.pb.txt
浏览文件 @
c629c17d
...
...
@@ -41,18 +41,18 @@ dual_variable_warm_start_config : {
}
distance_approach_config : {
weight_
u
: 0.0
weight_
u
: 0.0
weight_
u
_rate : 0.02
weight_
u
_rate : 0.02
weight_
state
: 1.0
weight_
state
: 1.0
weight_
state
: 2.0
weight_
state
: 0.0
weight_stitching : 0.02
weight_stitching : 0.02
weight_time : 8.0
weight_time : 16.0
weight_
steer
: 0.0
weight_
a
: 0.0
weight_
steer
_rate : 0.02
weight_
a
_rate : 0.02
weight_
x
: 1.0
weight_
y
: 1.0
weight_
phi
: 2.0
weight_
v
: 0.0
weight_st
eer_st
itching : 0.02
weight_
a_
stitching : 0.02
weight_
first_order_
time : 8.0
weight_
second_order_
time : 16.0
min_safety_distance : 0.0
max_speed_forward : 2.0
max_speed_reverse : 1.0
...
...
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