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体验新版 GitCode,发现更多精彩内容 >>
提交
e1953fd7
编写于
4月 18, 2019
作者:
P
panjiacheng
提交者:
Jiaming Tao
4月 18, 2019
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差异文件
Planning: add path_lane_borrow_decider to change side-pass architecture.
上级
57de13ec
变更
6
隐藏空白更改
内联
并排
Showing
6 changed file
with
101 addition
and
3 deletion
+101
-3
modules/planning/conf/scenario/side_pass_config.pb.txt
modules/planning/conf/scenario/side_pass_config.pb.txt
+1
-1
modules/planning/tasks/deciders/path_bounds_decider.cc
modules/planning/tasks/deciders/path_bounds_decider.cc
+1
-1
modules/planning/tasks/deciders/path_bounds_decider.h
modules/planning/tasks/deciders/path_bounds_decider.h
+2
-1
modules/planning/tasks/deciders/path_lane_borrow_decider/BUILD
...es/planning/tasks/deciders/path_lane_borrow_decider/BUILD
+22
-0
modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.cc
...ders/path_lane_borrow_decider/path_lane_borrow_decider.cc
+37
-0
modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h
...iders/path_lane_borrow_decider/path_lane_borrow_decider.h
+38
-0
未找到文件。
modules/planning/conf/scenario/side_pass_config.pb.txt
浏览文件 @
e1953fd7
scenario_type: SIDE_PASS
stage_type: SIDE_PASS_DEFAULT_STAGE
#
stage_type: SIDE_PASS_DEFAULT_STAGE
stage_type: SIDE_PASS_APPROACH_OBSTACLE
stage_type: SIDE_PASS_GENERATE_PATH
stage_type: SIDE_PASS_STOP_ON_WAITPOINT
...
...
modules/planning/tasks/deciders/path_bounds_decider.cc
浏览文件 @
e1953fd7
...
...
@@ -319,7 +319,7 @@ void PathBoundsDecider::RemoveRedundantPathBoundaries(
return
;
}
bool
PathBoundsDecider
::
IsContained
(
bool
PathBoundsDecider
::
IsContained
(
const
std
::
vector
<
std
::
pair
<
double
,
double
>>&
lhs
,
const
std
::
vector
<
std
::
pair
<
double
,
double
>>&
rhs
)
{
if
(
lhs
.
size
()
>
rhs
.
size
())
{
return
false
;
}
...
...
modules/planning/tasks/deciders/path_bounds_decider.h
浏览文件 @
e1953fd7
...
...
@@ -25,6 +25,7 @@
#include <string>
#include <tuple>
#include <unordered_map>
#include <utility>
#include <vector>
#include "gtest/gtest.h"
...
...
@@ -116,7 +117,7 @@ class PathBoundsDecider : public Decider {
void
RemoveRedundantPathBoundaries
(
std
::
vector
<
PathBoundary
>*
const
candidate_path_boundaries
);
bool
IsContained
(
bool
IsContained
(
const
std
::
vector
<
std
::
pair
<
double
,
double
>>&
lhs
,
const
std
::
vector
<
std
::
pair
<
double
,
double
>>&
rhs
);
...
...
modules/planning/tasks/deciders/path_lane_borrow_decider/BUILD
0 → 100644
浏览文件 @
e1953fd7
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
name
=
"path_lane_borrow_decider"
,
srcs
=
[
"path_lane_borrow_decider.cc"
,
],
hdrs
=
[
"path_lane_borrow_decider.h"
,
],
copts
=
[
"-DMODULE_NAME=
\\\"
planning
\\\"
"
],
deps
=
[
"//modules/planning/common:planning_context"
,
"//modules/planning/common:planning_gflags"
,
"//modules/planning/common:reference_line_info"
,
"//modules/planning/tasks/deciders:decider_base"
,
],
)
cpplint
()
modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.cc
0 → 100644
浏览文件 @
e1953fd7
/******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h"
namespace
apollo
{
namespace
planning
{
using
apollo
::
common
::
Status
;
PathLaneBorrowDecider
::
PathLaneBorrowDecider
(
const
TaskConfig
&
config
)
:
Decider
(
config
)
{}
Status
PathLaneBorrowDecider
::
Process
(
Frame
*
const
frame
,
ReferenceLineInfo
*
const
reference_line_info
)
{
// Sanity checks.
CHECK_NOTNULL
(
frame
);
CHECK_NOTNULL
(
reference_line_info
);
return
Status
::
OK
();
}
}
// namespace planning
}
// namespace apollo
modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h
0 → 100644
浏览文件 @
e1953fd7
/******************************************************************************
* Copyright 2019 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include "modules/planning/tasks/deciders/decider.h"
namespace
apollo
{
namespace
planning
{
class
PathLaneBorrowDecider
:
public
Decider
{
public:
explicit
PathLaneBorrowDecider
(
const
TaskConfig
&
config
);
private:
common
::
Status
Process
(
Frame
*
frame
,
ReferenceLineInfo
*
reference_line_info
)
override
;
};
}
// namespace planning
}
// namespace apollo
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