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体验新版 GitCode,发现更多精彩内容 >>
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f003f8d3
编写于
8月 17, 2017
作者:
Y
Yajia Zhang
提交者:
Kecheng Xu
8月 17, 2017
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电子邮件补丁
差异文件
planning: removed forward decleration in speed_optimizer.h
上级
415f70d2
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
7 addition
and
9 deletion
+7
-9
modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc
modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc
+2
-3
modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc
...ning/optimizer/qp_spline_path/qp_spline_path_generator.cc
+3
-3
modules/planning/optimizer/speed_optimizer.h
modules/planning/optimizer/speed_optimizer.h
+2
-3
未找到文件。
modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc
浏览文件 @
f003f8d3
...
...
@@ -38,9 +38,7 @@ namespace planning {
using
common
::
SpeedPoint
;
using
ConstPathObstacleList
=
std
::
vector
<
const
PathObstacle
*>
;
namespace
{
constexpr
double
kEpsilontol
=
1e-6
;
}
QpFrenetFrame
::
QpFrenetFrame
(
const
ReferenceLine
&
reference_line
,
const
ConstPathObstacleList
&
path_obstacles
,
...
...
@@ -66,13 +64,14 @@ bool QpFrenetFrame::Init(const uint32_t num_points) {
return
false
;
}
const
double
resolution
=
(
end_s_
-
start_s_
)
/
num_points
;
if
(
Double
::
Compare
(
start_s_
,
end_s_
,
1e-8
)
>
0
)
{
AERROR
<<
"Not enough s distance. start_s: "
<<
start_s_
<<
", end_s: "
<<
end_s_
;
return
false
;
}
const
double
resolution
=
(
end_s_
-
start_s_
)
/
num_points
;
if
(
!
CalculateDiscretizedVehicleLocation
())
{
AERROR
<<
"Fail to calculate discretized vehicle location!"
;
return
false
;
...
...
modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc
浏览文件 @
f003f8d3
...
...
@@ -124,14 +124,14 @@ bool QpSplinePathGenerator::Generate(
Eigen
::
Vector2d
xy_point
=
CartesianFrenetConverter
::
CalculateCartesianPoint
(
ref_point
.
heading
(),
{
ref_point
.
x
(),
ref_point
.
y
()},
l
);
xy_point
[
0
]
=
xy_point
.
x
()
-
x_diff
;
xy_point
[
1
]
=
xy_point
.
y
()
-
y_diff
;
xy_point
[
0
]
=
xy_point
[
0
]
-
x_diff
;
xy_point
[
1
]
=
xy_point
[
1
]
-
y_diff
;
double
theta
=
CartesianFrenetConverter
::
CalculateTheta
(
ref_point
.
heading
(),
ref_point
.
kappa
(),
l
,
dl
);
double
kappa
=
CartesianFrenetConverter
::
CalculateKappa
(
ref_point
.
kappa
(),
ref_point
.
dkappa
(),
l
,
dl
,
ddl
);
common
::
PathPoint
path_point
=
common
::
util
::
MakePathPoint
(
xy_point
.
x
(),
xy_point
.
y
()
,
0.0
,
theta
,
kappa
,
0.0
,
0.0
);
xy_point
[
0
],
xy_point
[
1
]
,
0.0
,
theta
,
kappa
,
0.0
,
0.0
);
if
(
path_points
.
size
()
!=
0
)
{
double
distance
=
common
::
util
::
Distance2D
(
path_points
.
back
(),
path_point
);
...
...
modules/planning/optimizer/speed_optimizer.h
浏览文件 @
f003f8d3
...
...
@@ -24,6 +24,8 @@
#include <string>
#include <vector>
#include "modules/planning/common/speed_limit.h"
#include "modules/planning/common/speed/speed_data.h"
#include "modules/planning/optimizer/optimizer.h"
#include "modules/common/status/status.h"
...
...
@@ -32,9 +34,6 @@
namespace
apollo
{
namespace
planning
{
class
SpeedLimit
;
class
SpeedData
;
class
SpeedOptimizer
:
public
Optimizer
{
public:
explicit
SpeedOptimizer
(
const
std
::
string
&
name
);
...
...
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