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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
c8b76b11
编写于
12月 22, 2017
作者:
K
kechxu
提交者:
Kecheng Xu
12月 22, 2017
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电子邮件补丁
差异文件
PnC: add a field of lane_id in path_point proto
上级
4abd4e31
变更
3
显示空白变更内容
内联
并排
Showing
3 changed file
with
4 addition
and
2 deletion
+4
-2
modules/common/proto/pnc_point.proto
modules/common/proto/pnc_point.proto
+2
-0
modules/prediction/common/prediction_util.cc
modules/prediction/common/prediction_util.cc
+1
-0
modules/prediction/predictor/move_sequence/move_sequence_predictor.cc
...iction/predictor/move_sequence/move_sequence_predictor.cc
+1
-2
未找到文件。
modules/common/proto/pnc_point.proto
浏览文件 @
c8b76b11
...
@@ -44,6 +44,8 @@ message PathPoint {
...
@@ -44,6 +44,8 @@ message PathPoint {
optional
double
dkappa
=
7
;
optional
double
dkappa
=
7
;
// derivative of derivative of kappa w.r.t s.
// derivative of derivative of kappa w.r.t s.
optional
double
ddkappa
=
8
;
optional
double
ddkappa
=
8
;
// The lane ID where the path point is on
optional
string
lane_id
=
9
;
}
}
message
Path
{
message
Path
{
...
...
modules/prediction/common/prediction_util.cc
浏览文件 @
c8b76b11
...
@@ -201,6 +201,7 @@ void GenerateLaneSequenceTrajectoryPoints(
...
@@ -201,6 +201,7 @@ void GenerateLaneSequenceTrajectoryPoints(
path_point
.
set_y
(
point
.
y
());
path_point
.
set_y
(
point
.
y
());
path_point
.
set_z
(
0.0
);
path_point
.
set_z
(
0.0
);
path_point
.
set_theta
(
theta
);
path_point
.
set_theta
(
theta
);
path_point
.
set_lane_id
(
lane_id
);
trajectory_point
.
mutable_path_point
()
->
CopyFrom
(
path_point
);
trajectory_point
.
mutable_path_point
()
->
CopyFrom
(
path_point
);
trajectory_point
.
set_v
(
lane_speed
);
trajectory_point
.
set_v
(
lane_speed
);
trajectory_point
.
set_a
(
lane_acc
);
trajectory_point
.
set_a
(
lane_acc
);
...
...
modules/prediction/predictor/move_sequence/move_sequence_predictor.cc
浏览文件 @
c8b76b11
...
@@ -134,8 +134,6 @@ void MoveSequencePredictor::Predict(Obstacle* obstacle) {
...
@@ -134,8 +134,6 @@ void MoveSequencePredictor::Predict(Obstacle* obstacle) {
<<
"] will draw a lane sequence trajectory ["
<<
ToString
(
sequence
)
<<
"] will draw a lane sequence trajectory ["
<<
ToString
(
sequence
)
<<
"] with probability ["
<<
sequence
.
probability
()
<<
"]."
;
<<
"] with probability ["
<<
sequence
.
probability
()
<<
"]."
;
// TODO(Prediction): remove the following line
// std::string curr_lane_id = sequence.lane_segment(0).lane_id();
std
::
vector
<
TrajectoryPoint
>
points
;
std
::
vector
<
TrajectoryPoint
>
points
;
DrawMoveSequenceTrajectoryPoints
(
*
obstacle
,
sequence
,
DrawMoveSequenceTrajectoryPoints
(
*
obstacle
,
sequence
,
FLAGS_prediction_duration
,
FLAGS_prediction_duration
,
...
@@ -275,6 +273,7 @@ void MoveSequencePredictor::DrawManeuverTrajectoryPoints(
...
@@ -275,6 +273,7 @@ void MoveSequencePredictor::DrawManeuverTrajectoryPoints(
path_point
.
set_y
(
point
.
y
());
path_point
.
set_y
(
point
.
y
());
path_point
.
set_z
(
0.0
);
path_point
.
set_z
(
0.0
);
path_point
.
set_theta
(
theta
);
path_point
.
set_theta
(
theta
);
path_point
.
set_lane_id
(
lane_id
);
trajectory_point
.
mutable_path_point
()
->
CopyFrom
(
path_point
);
trajectory_point
.
mutable_path_point
()
->
CopyFrom
(
path_point
);
trajectory_point
.
set_v
(
lane_speed
);
trajectory_point
.
set_v
(
lane_speed
);
trajectory_point
.
set_a
(
lane_acc
);
trajectory_point
.
set_a
(
lane_acc
);
...
...
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