Skip to content
体验新版
项目
组织
正在加载...
登录
切换导航
打开侧边栏
Pinoxchio
apollo
提交
ca78c387
A
apollo
项目概览
Pinoxchio
/
apollo
与 Fork 源项目一致
从无法访问的项目Fork
通知
2
Star
0
Fork
0
代码
文件
提交
分支
Tags
贡献者
分支图
Diff
Issue
0
列表
看板
标记
里程碑
合并请求
0
Wiki
0
Wiki
分析
仓库
DevOps
项目成员
Pages
A
apollo
项目概览
项目概览
详情
发布
仓库
仓库
文件
提交
分支
标签
贡献者
分支图
比较
Issue
0
Issue
0
列表
看板
标记
里程碑
合并请求
0
合并请求
0
Pages
分析
分析
仓库分析
DevOps
Wiki
0
Wiki
成员
成员
收起侧边栏
关闭侧边栏
动态
分支图
创建新Issue
提交
Issue看板
体验新版 GitCode,发现更多精彩内容 >>
提交
ca78c387
编写于
5月 24, 2019
作者:
X
Xiangquan Xiao
提交者:
Jiangtao Hu
5月 24, 2019
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Robot: Code clean with clang-format.
上级
9b3f021a
变更
7
隐藏空白更改
内联
并排
Showing
7 changed file
with
27 addition
and
38 deletion
+27
-38
modules/dreamview/backend/data_collection_monitor/data_collection_monitor.cc
...ackend/data_collection_monitor/data_collection_monitor.cc
+1
-2
modules/perception/onboard/component/fusion_camera_detection_component.cc
...on/onboard/component/fusion_camera_detection_component.cc
+6
-6
modules/planning/scenarios/scenario_manager.cc
modules/planning/scenarios/scenario_manager.cc
+1
-4
modules/planning/scenarios/util/util.cc
modules/planning/scenarios/util/util.cc
+2
-4
modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc
...sks/deciders/open_space_decider/open_space_roi_decider.cc
+1
-2
modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
...tasks/deciders/path_bounds_decider/path_bounds_decider.cc
+14
-18
modules/planning/traffic_rules/destination.cc
modules/planning/traffic_rules/destination.cc
+2
-2
未找到文件。
modules/dreamview/backend/data_collection_monitor/data_collection_monitor.cc
浏览文件 @
ca78c387
...
...
@@ -84,8 +84,7 @@ bool IsCompliedWithCriterion(float actual_value,
case
ComparisonOperator
::
NOT_EQUAL
:
return
(
actual_value
!=
target_value
);
default:
AERROR
<<
"Unsupported comparison operator found:"
<<
comparison_operator
;
AERROR
<<
"Unsupported comparison operator found:"
<<
comparison_operator
;
return
false
;
}
}
...
...
modules/perception/onboard/component/fusion_camera_detection_component.cc
浏览文件 @
ca78c387
...
...
@@ -243,8 +243,8 @@ bool FusionCameraDetectionComponent::Init() {
if
(
enable_cipv_
)
{
cipv_
.
Init
(
homography_im2car_
,
min_laneline_length_for_cipv_
,
average_lane_width_in_meter_
,
max_vehicle_width_in_meter_
,
average_frame_rate_
,
image_based_cipv_
,
debug_level_
);
average_lane_width_in_meter_
,
max_vehicle_width_in_meter_
,
average_frame_rate_
,
image_based_cipv_
,
debug_level_
);
}
if
(
enable_visualization_
)
{
...
...
@@ -780,8 +780,8 @@ int FusionCameraDetectionComponent::InternalProc(
// Get Drop points
if
(
motion_buffer_
->
size
()
>
0
)
{
cipv_
.
CollectDrops
(
motion_buffer_
,
world2camera
,
&
camera_frame
.
tracked_objects
);
cipv_
.
CollectDrops
(
motion_buffer_
,
world2camera
,
&
camera_frame
.
tracked_objects
);
}
else
{
AWARN
<<
"motion_buffer is empty"
;
}
...
...
@@ -811,8 +811,8 @@ int FusionCameraDetectionComponent::InternalProc(
camera_frame
.
data_provider
->
GetImage
(
image_options
,
&
out_image
);
memcpy
(
output_image
.
data
,
out_image
.
cpu_data
(),
out_image
.
total
()
*
sizeof
(
uint8_t
));
visualize_
.
ShowResult_all_info_single_camera
(
output_image
,
camera_frame
,
motion_buffer_
,
world2camera
);
visualize_
.
ShowResult_all_info_single_camera
(
output_image
,
camera_frame
,
motion_buffer_
,
world2camera
);
}
}
...
...
modules/planning/scenarios/scenario_manager.cc
浏览文件 @
ca78c387
...
...
@@ -906,14 +906,11 @@ void ScenarioManager::UpdatePlanningContextTrafficLightScenario(
}
}
// update: pull_over status in PlanningContext
void
ScenarioManager
::
UpdatePlanningContextPullOverScenario
(
const
Frame
&
frame
,
const
ScenarioConfig
::
ScenarioType
&
scenario_type
)
{
if
(
scenario_type
!=
ScenarioConfig
::
PULL_OVER
)
{
PlanningContext
::
Instance
()
->
mutable_planning_status
()
->
clear_pull_over
();
PlanningContext
::
Instance
()
->
mutable_planning_status
()
->
clear_pull_over
();
return
;
}
}
...
...
modules/planning/scenarios/util/util.cc
浏览文件 @
ca78c387
...
...
@@ -73,10 +73,8 @@ PullOverStatus CheckADCPullOver(const ReferenceLineInfo& reference_line_info,
const
auto
&
pull_over_status
=
PlanningContext
::
Instance
()
->
planning_status
().
pull_over
();
if
(
!
pull_over_status
.
is_feasible
()
||
!
pull_over_status
.
has_x
()
||
!
pull_over_status
.
has_y
()
||
!
pull_over_status
.
has_theta
())
{
if
(
!
pull_over_status
.
is_feasible
()
||
!
pull_over_status
.
has_x
()
||
!
pull_over_status
.
has_y
()
||
!
pull_over_status
.
has_theta
())
{
ADEBUG
<<
"pull_over status not set properly: "
<<
pull_over_status
.
DebugString
();
return
UNKNOWN
;
...
...
modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc
浏览文件 @
ca78c387
...
...
@@ -643,8 +643,7 @@ bool OpenSpaceRoiDecider::GetPullOverSpot(
hdmap
::
Path
*
nearby_path
)
{
const
auto
&
pull_over_status
=
PlanningContext
::
Instance
()
->
planning_status
().
pull_over
();
if
(
!
pull_over_status
.
has_x
()
||
!
pull_over_status
.
has_y
()
||
if
(
!
pull_over_status
.
has_x
()
||
!
pull_over_status
.
has_y
()
||
!
pull_over_status
.
has_theta
())
{
AERROR
<<
"Pull over position not set in planning context"
;
return
false
;
...
...
modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
浏览文件 @
ca78c387
...
...
@@ -175,8 +175,8 @@ Status PathBoundsDecider::Process(
RemoveRedundantPathBoundaries
(
&
candidate_path_boundaries
);
auto
*
pull_over_status
=
PlanningContext
::
Instance
()
->
mutable_planning_status
()
->
mutable_pull_over
();
->
mutable_planning_status
()
->
mutable_pull_over
();
// If needed, search for pull-over position.
if
(
config_
.
path_bounds_decider_config
().
is_pull_over
())
{
if
(
!
exist_self_path_bound
)
{
...
...
@@ -366,9 +366,8 @@ bool PathBoundsDecider::SearchPullOverPosition(
// Check if destination is some distance away from ADC.
ADEBUG
<<
"Destination is at s = "
<<
destination_s
<<
", ADC is at s = "
<<
adc_end_s
;
if
(
destination_s
-
adc_end_s
<
config_
.
path_bounds_decider_config
()
.
pull_over_destination_to_adc_buffer
())
{
if
(
destination_s
-
adc_end_s
<
config_
.
path_bounds_decider_config
()
.
pull_over_destination_to_adc_buffer
())
{
ADEBUG
<<
"ADC is close to the destination."
;
const
auto
&
pull_over_status
=
PlanningContext
::
Instance
()
->
planning_status
().
pull_over
();
...
...
@@ -377,10 +376,10 @@ bool PathBoundsDecider::SearchPullOverPosition(
reference_line
.
XYToSL
({
pull_over_status
.
x
(),
pull_over_status
.
y
()},
&
pull_over_sl
);
ADEBUG
<<
"pull-over pisition: s["
<<
pull_over_sl
.
s
()
<<
"] l["
<<
pull_over_sl
.
l
()
<<
"] x["
<<
pull_over_status
.
x
()
<<
"] y["
<<
pull_over_status
.
y
()
<<
"]
theta["
<<
pull_over_status
.
theta
()
<<
"]
"
;
ADEBUG
<<
"pull-over pisition: s["
<<
pull_over_sl
.
s
()
<<
"] l["
<<
pull_over_sl
.
l
()
<<
"] x["
<<
pull_over_status
.
x
()
<<
"] y["
<<
pull_over_status
.
y
()
<<
"] theta["
<<
pull_over_status
.
theta
()
<<
"]"
;
int
pull_over_idx
=
0
;
for
(
const
auto
&
path_bound_point
:
path_bound
)
{
if
(
std
::
get
<
0
>
(
path_bound_point
)
<
pull_over_sl
.
s
())
{
...
...
@@ -389,11 +388,9 @@ bool PathBoundsDecider::SearchPullOverPosition(
break
;
}
}
*
pull_over_configuration
=
std
::
make_tuple
(
pull_over_status
.
x
(),
pull_over_status
.
y
(),
pull_over_status
.
theta
(),
pull_over_idx
);
*
pull_over_configuration
=
std
::
make_tuple
(
pull_over_status
.
x
(),
pull_over_status
.
y
(),
pull_over_status
.
theta
(),
pull_over_idx
);
return
true
;
}
else
{
ADEBUG
<<
"Destination is too close to ADC. distance["
...
...
@@ -405,7 +402,7 @@ bool PathBoundsDecider::SearchPullOverPosition(
// Check if destination is within path-bounds searching scope.
const
double
destination_to_pathend_buffer
=
config_
.
path_bounds_decider_config
()
.
pull_over_destination_to_pathend_buffer
();
.
pull_over_destination_to_pathend_buffer
();
if
(
destination_s
+
destination_to_pathend_buffer
>=
std
::
get
<
0
>
(
path_bound
.
back
()))
{
ADEBUG
<<
"Destination is not within path_bounds search scope"
;
...
...
@@ -500,9 +497,8 @@ bool PathBoundsDecider::SearchPullOverPosition(
reference_line
.
GetReferencePoint
(
pull_over_s
);
const
double
pull_over_theta
=
reference_point
.
heading
();
*
pull_over_configuration
=
std
::
make_tuple
(
pull_over_x
,
pull_over_y
,
pull_over_theta
,
(
i
+
j
)
/
2
);
*
pull_over_configuration
=
std
::
make_tuple
(
pull_over_x
,
pull_over_y
,
pull_over_theta
,
(
i
+
j
)
/
2
);
break
;
}
--
i
;
...
...
modules/planning/traffic_rules/destination.cc
浏览文件 @
ca78c387
...
...
@@ -84,8 +84,8 @@ int Destination::MakeDecisions(Frame* frame,
if
(
FLAGS_enable_scenario_pull_over
)
{
const
auto
&
pull_over_status
=
PlanningContext
::
Instance
()
->
planning_status
().
pull_over
();
if
(
pull_over_status
.
is_feasible
()
&&
pull_over_status
.
has_
x
()
&&
pull_over_status
.
has_
y
())
{
if
(
pull_over_status
.
is_feasible
()
&&
pull_over_status
.
has_x
()
&&
pull_over_status
.
has_y
())
{
// build stop decision based on pull-over position
ADEBUG
<<
"BuildStopDecision: pull-over position"
;
common
::
SLPoint
pull_over_sl
;
...
...
编辑
预览
Markdown
is supported
0%
请重试
或
添加新附件
.
添加附件
取消
You are about to add
0
people
to the discussion. Proceed with caution.
先完成此消息的编辑!
取消
想要评论请
注册
或
登录