From e94ff218c4cd92755b950ed40224b5cb36ec3cd9 Mon Sep 17 00:00:00 2001 From: Hongyi Date: Wed, 15 May 2019 16:02:46 -0700 Subject: [PATCH] Planning: remove default speed and always search --- .../gridded_path_time_graph.cc | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/modules/planning/tasks/optimizers/path_time_heuristic/gridded_path_time_graph.cc b/modules/planning/tasks/optimizers/path_time_heuristic/gridded_path_time_graph.cc index dad1d7b7af..a7cc04b9e8 100644 --- a/modules/planning/tasks/optimizers/path_time_heuristic/gridded_path_time_graph.cc +++ b/modules/planning/tasks/optimizers/path_time_heuristic/gridded_path_time_graph.cc @@ -97,23 +97,6 @@ Status GriddedPathTimeGraph::Search(SpeedData* const speed_data) { } } - // TODO(Hongyi): remove default speed and always search - // if (st_graph_data_.st_boundaries().empty()) { - // ADEBUG << "No path obstacles, dp_st_graph output default speed profile."; - // std::vector speed_profile; - // const double v_default = FLAGS_default_cruise_speed; - // for (int i = 0; i <= dp_st_speed_config_.matrix_dimension_t(); ++i) { - // SpeedPoint speed_point; - // speed_point.set_s(i * unit_t_ * v_default); - // speed_point.set_t(i * unit_t_); - // speed_point.set_v(v_default); - // speed_point.set_a(0.0); - // speed_profile.emplace_back(std::move(speed_point)); - // } - // *speed_data = SpeedData(std::move(speed_profile)); - // return Status::OK(); - // } - if (!InitCostTable().ok()) { const std::string msg = "Initialize cost table failed."; AERROR << msg; -- GitLab