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体验新版 GitCode,发现更多精彩内容 >>
提交
d9734af5
编写于
9月 24, 2018
作者:
D
Dong Li
提交者:
Jiangtao Hu
9月 24, 2018
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电子邮件补丁
差异文件
planning: fix the accumulating trajectory points bug
上级
502e6d5f
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
2 addition
and
18 deletion
+2
-18
modules/planning/common/trajectory/trajectory_stitcher.cc
modules/planning/common/trajectory/trajectory_stitcher.cc
+2
-6
modules/planning/std_planning.cc
modules/planning/std_planning.cc
+0
-12
未找到文件。
modules/planning/common/trajectory/trajectory_stitcher.cc
浏览文件 @
d9734af5
...
@@ -24,8 +24,8 @@
...
@@ -24,8 +24,8 @@
#include <list>
#include <list>
#include <utility>
#include <utility>
#include "modules/common/configs/config_gflags.h"
#include "cybertron/common/log.h"
#include "cybertron/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/common/math/angle.h"
#include "modules/common/math/angle.h"
#include "modules/common/math/quaternion.h"
#include "modules/common/math/quaternion.h"
#include "modules/common/util/util.h"
#include "modules/common/util/util.h"
...
@@ -169,13 +169,9 @@ std::vector<TrajectoryPoint> TrajectoryStitcher::ComputeStitchingTrajectory(
...
@@ -169,13 +169,9 @@ std::vector<TrajectoryPoint> TrajectoryStitcher::ComputeStitchingTrajectory(
std
::
size_t
forward_time_index
=
std
::
size_t
forward_time_index
=
prev_trajectory
->
QueryLowerBoundPoint
(
forward_rel_time
);
prev_trajectory
->
QueryLowerBoundPoint
(
forward_rel_time
);
ADEBUG
<<
"Position matched index: "
<<
position_matched_index
;
ADEBUG
<<
"Time matched index: "
<<
time_matched_index
;
auto
matched_index
=
std
::
min
(
time_matched_index
,
position_matched_index
);
std
::
vector
<
TrajectoryPoint
>
stitching_trajectory
(
std
::
vector
<
TrajectoryPoint
>
stitching_trajectory
(
prev_trajectory
->
trajectory_points
().
begin
()
+
prev_trajectory
->
trajectory_points
().
begin
()
+
std
::
max
(
0
,
static_cast
<
int
>
(
matched_index
-
1
)),
std
::
max
(
0
,
static_cast
<
int
>
(
time_
matched_index
-
1
)),
prev_trajectory
->
trajectory_points
().
begin
()
+
forward_time_index
+
1
);
prev_trajectory
->
trajectory_points
().
begin
()
+
forward_time_index
+
1
);
const
double
zero_s
=
stitching_trajectory
.
back
().
path_point
().
s
();
const
double
zero_s
=
stitching_trajectory
.
back
().
path_point
().
s
();
...
...
modules/planning/std_planning.cc
浏览文件 @
d9734af5
...
@@ -395,23 +395,11 @@ Status StdPlanning::Plan(
...
@@ -395,23 +395,11 @@ Status StdPlanning::Plan(
ADEBUG
<<
"current_time_stamp: "
<<
std
::
to_string
(
current_time_stamp
);
ADEBUG
<<
"current_time_stamp: "
<<
std
::
to_string
(
current_time_stamp
);
// Navi Panner doesn't need to stitch the last path planning
// trajectory.Otherwise, it will cause the Dremview planning track to display
// flashing or bouncing
if
(
FLAGS_enable_stitch_last_trajectory
)
{
if
(
FLAGS_enable_stitch_last_trajectory
)
{
last_publishable_trajectory_
->
PrependTrajectoryPoints
(
last_publishable_trajectory_
->
PrependTrajectoryPoints
(
stitching_trajectory
.
begin
(),
stitching_trajectory
.
end
()
-
1
);
stitching_trajectory
.
begin
(),
stitching_trajectory
.
end
()
-
1
);
}
}
for
(
size_t
i
=
0
;
i
<
last_publishable_trajectory_
->
NumOfPoints
();
++
i
)
{
if
(
last_publishable_trajectory_
->
TrajectoryPointAt
(
i
).
relative_time
()
>
FLAGS_trajectory_time_high_density_period
)
{
break
;
}
ADEBUG
<<
last_publishable_trajectory_
->
TrajectoryPointAt
(
i
)
.
ShortDebugString
();
}
last_publishable_trajectory_
->
PopulateTrajectoryProtobuf
(
trajectory_pb
);
last_publishable_trajectory_
->
PopulateTrajectoryProtobuf
(
trajectory_pb
);
best_ref_info
->
ExportEngageAdvice
(
trajectory_pb
->
mutable_engage_advice
());
best_ref_info
->
ExportEngageAdvice
(
trajectory_pb
->
mutable_engage_advice
());
...
...
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