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体验新版 GitCode,发现更多精彩内容 >>
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e632d3ab
编写于
7月 20, 2017
作者:
Z
Zhang Liangliang
提交者:
Yifei Jiang
7月 20, 2017
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差异文件
added perception_proxy.
上级
7228508d
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
123 addition
and
4 deletion
+123
-4
modules/planning/proxy/BUILD
modules/planning/proxy/BUILD
+23
-4
modules/planning/proxy/perception_proxy.cc
modules/planning/proxy/perception_proxy.cc
+52
-0
modules/planning/proxy/perception_proxy.h
modules/planning/proxy/perception_proxy.h
+48
-0
未找到文件。
modules/planning/proxy/BUILD
浏览文件 @
e632d3ab
...
@@ -3,13 +3,32 @@ package(default_visibility = ["//visibility:public"])
...
@@ -3,13 +3,32 @@ package(default_visibility = ["//visibility:public"])
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
cc_library
(
cc_library
(
name
=
"proxy"
,
name
=
"perception_proxy"
,
srcs
=
[
"perception_proxy.cc"
,
],
hdrs
=
[
"perception_proxy.h"
,
],
deps
=
[
"//external:gflags"
,
"//modules/common/math"
,
"//modules/common/status"
,
"//modules/common/util"
,
"//modules/map/proto:map_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/planning/common:planning_gflags"
,
],
)
cc_library
(
name
=
"routing_proxy"
,
srcs
=
[
srcs
=
[
"routing_proxy.cc"
,
"routing_proxy.cc"
,
],
],
hdrs
=
glob
(
[
hdrs
=
[
"
*
.h"
,
"
routing_proxy
.h"
,
]
)
,
],
data
=
[
"//modules/map:map_data"
],
data
=
[
"//modules/map:map_data"
],
deps
=
[
deps
=
[
"//external:gflags"
,
"//external:gflags"
,
...
...
modules/planning/proxy/perception_proxy.cc
0 → 100644
浏览文件 @
e632d3ab
/******************************************************************************
* Copyright 2017 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 perception_proxy.cc
**/
#include "modules/planning/proxy/perception_proxy.h"
#include "modules/planning/common/planning_gflags.h"
namespace
apollo
{
namespace
planning
{
void
PerceptionProxy
::
add_perception_obstacles
(
const
apollo
::
perception
::
PerceptionObstacles
&
perception_obstacles
)
{
if
(
_perception_frame
.
size
()
>
static_cast
<
std
::
size_t
>
(
FLAGS_max_frame_size
))
{
_perception_frame
.
pop_front
();
}
_perception_frame
.
emplace_back
(
std
::
move
(
perception_obstacles
));
return
;
}
apollo
::
perception
::
PerceptionObstacles
*
PerceptionProxy
::
get_latest_perception_frame
()
{
if
(
_perception_frame
.
size
()
==
0
)
{
return
nullptr
;
}
return
&
(
*
(
_perception_frame
.
rbegin
()));
}
const
std
::
list
<
apollo
::
perception
::
PerceptionObstacles
>&
PerceptionProxy
::
perception_frame
()
const
{
return
_perception_frame
;
}
}
// namespace planning
}
// namespace apollo
modules/planning/proxy/perception_proxy.h
0 → 100644
浏览文件 @
e632d3ab
/******************************************************************************
* Copyright 2017 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 perception_proxy.h
**/
#ifndef MODULES_PLANNING_PROXY_PERCEPTION_PROXY_H_
#define MODULES_PLANNING_PROXY_PERCEPTION_PROXY_H_
#include <list>
#include "modules/common/proto/error_code.pb.h"
#include "modules/perception/proto/perception_obstacle.pb.h"
namespace
apollo
{
namespace
planning
{
class
PerceptionProxy
{
public:
PerceptionProxy
()
=
default
;
void
add_perception_obstacles
(
const
apollo
::
perception
::
PerceptionObstacles
&
perception_obstacles
);
apollo
::
perception
::
PerceptionObstacles
*
get_latest_perception_frame
();
const
std
::
list
<
apollo
::
perception
::
PerceptionObstacles
>&
perception_frame
()
const
;
private:
std
::
list
<
apollo
::
perception
::
PerceptionObstacles
>
_perception_frame
;
};
}
// namespace planning
}
// namespace apollo
#endif // MODULES_PLANNING_PROXY_PERCEPTION_PROXY_H_
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