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体验新版 GitCode,发现更多精彩内容 >>
提交
f32a8229
编写于
8月 15, 2017
作者:
J
Jiangtao Hu
提交者:
Dong Li
8月 15, 2017
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电子邮件补丁
差异文件
planning: move speed/path debug info into optimizer and fix unit test.
上级
a946e824
变更
7
展开全部
显示空白变更内容
内联
并排
Showing
7 changed file
with
1052 addition
and
11021 deletion
+1052
-11021
modules/planning/optimizer/path_optimizer.cc
modules/planning/optimizer/path_optimizer.cc
+15
-3
modules/planning/optimizer/path_optimizer.h
modules/planning/optimizer/path_optimizer.h
+2
-0
modules/planning/optimizer/speed_optimizer.cc
modules/planning/optimizer/speed_optimizer.cc
+12
-1
modules/planning/optimizer/speed_optimizer.h
modules/planning/optimizer/speed_optimizer.h
+2
-0
modules/planning/planner/em/em_planner.cc
modules/planning/planner/em/em_planner.cc
+1
-17
modules/planning/planner/em/em_planner.h
modules/planning/planner/em/em_planner.h
+0
-1
modules/planning/testdata/qp_spline_path/42_apollo_planning.pb.txt
...lanning/testdata/qp_spline_path/42_apollo_planning.pb.txt
+1020
-10999
未找到文件。
modules/planning/optimizer/path_optimizer.cc
浏览文件 @
f32a8229
...
...
@@ -28,9 +28,21 @@ PathOptimizer::PathOptimizer(const std::string& name) : Optimizer(name) {}
apollo
::
common
::
Status
PathOptimizer
::
Optimize
(
Frame
*
frame
)
{
frame_
=
frame
;
auto
*
planning_data
=
frame
->
mutable_planning_data
();
return
Process
(
planning_data
->
speed_data
(),
frame
->
reference_line
(),
auto
ret
=
Process
(
planning_data
->
speed_data
(),
frame
->
reference_line
(),
frame
->
PlanningStartPoint
(),
frame
->
path_decision
(),
planning_data
->
mutable_path_data
());
RecordDebugInfo
(
planning_data
->
path_data
());
return
ret
;
}
void
PathOptimizer
::
RecordDebugInfo
(
const
PathData
&
path_data
)
{
auto
debug
=
frame_
->
MutableADCTrajectory
()
->
mutable_debug
();
const
auto
&
path_points
=
path_data
.
discretized_path
().
path_points
();
auto
ptr_optimized_path
=
debug
->
mutable_planning_data
()
->
add_path
();
ptr_optimized_path
->
set_name
(
name
());
ptr_optimized_path
->
mutable_path_point
()
->
CopyFrom
(
{
path_points
.
begin
(),
path_points
.
end
()});
}
}
// namespace planning
...
...
modules/planning/optimizer/path_optimizer.h
浏览文件 @
f32a8229
...
...
@@ -45,6 +45,8 @@ class PathOptimizer : public Optimizer {
const
SpeedData
&
speed_data
,
const
ReferenceLine
&
reference_line
,
const
common
::
TrajectoryPoint
&
init_point
,
PathDecision
*
const
path_decision
,
PathData
*
const
path_data
)
=
0
;
void
RecordDebugInfo
(
const
PathData
&
path_data
);
};
}
// namespace planning
...
...
modules/planning/optimizer/speed_optimizer.cc
浏览文件 @
f32a8229
...
...
@@ -32,9 +32,20 @@ SpeedOptimizer::SpeedOptimizer(const std::string& name) : Optimizer(name) {}
apollo
::
common
::
Status
SpeedOptimizer
::
Optimize
(
Frame
*
frame
)
{
frame_
=
frame
;
auto
*
planning_data
=
frame
->
mutable_planning_data
();
return
Process
(
planning_data
->
path_data
(),
frame
->
PlanningStartPoint
(),
auto
ret
=
Process
(
planning_data
->
path_data
(),
frame
->
PlanningStartPoint
(),
frame
->
reference_line
(),
frame
->
path_decision
(),
planning_data
->
mutable_speed_data
());
RecordDebugInfo
(
planning_data
->
speed_data
());
return
ret
;
}
void
SpeedOptimizer
::
RecordDebugInfo
(
const
SpeedData
&
speed_data
)
{
auto
debug
=
frame_
->
MutableADCTrajectory
()
->
mutable_debug
();
auto
ptr_speed_plan
=
debug
->
mutable_planning_data
()
->
add_speed_plan
();
ptr_speed_plan
->
set_name
(
name
());
ptr_speed_plan
->
mutable_speed_point
()
->
CopyFrom
(
{
speed_data
.
speed_vector
().
begin
(),
speed_data
.
speed_vector
().
end
()});
}
void
SpeedOptimizer
::
RecordSTGraphDebug
(
...
...
modules/planning/optimizer/speed_optimizer.h
浏览文件 @
f32a8229
...
...
@@ -49,6 +49,8 @@ class SpeedOptimizer : public Optimizer {
void
RecordSTGraphDebug
(
const
std
::
vector
<
StGraphBoundary
>&
boundaries
,
const
SpeedLimit
&
speed_limits
,
const
SpeedData
&
speed_data
);
void
RecordDebugInfo
(
const
SpeedData
&
speed_data
);
};
}
// namespace planning
...
...
modules/planning/planner/em/em_planner.cc
浏览文件 @
f32a8229
...
...
@@ -87,7 +87,6 @@ Status EMPlanner::Init(const PlanningConfig& config) {
}
void
EMPlanner
::
RecordDebugInfo
(
const
std
::
string
&
name
,
const
PlanningData
*
planning_data
,
const
double
time_diff_ms
,
planning_internal
::
Debug
*
ptr_debug
,
planning
::
LatencyStats
*
ptr_latency_stats
)
{
...
...
@@ -97,21 +96,6 @@ void EMPlanner::RecordDebugInfo(const std::string& name,
}
OptimizerType
type
;
DCHECK
(
OptimizerType_Parse
(
name
,
&
type
));
if
(
type
==
DP_POLY_PATH_OPTIMIZER
||
type
==
QP_SPLINE_PATH_OPTIMIZER
)
{
const
auto
&
path_points
=
planning_data
->
path_data
().
discretized_path
().
path_points
();
auto
ptr_optimized_path
=
ptr_debug
->
mutable_planning_data
()
->
add_path
();
ptr_optimized_path
->
set_name
(
name
);
ptr_optimized_path
->
mutable_path_point
()
->
CopyFrom
(
{
path_points
.
begin
(),
path_points
.
end
()});
}
else
if
(
type
==
DP_ST_SPEED_OPTIMIZER
||
type
==
QP_SPLINE_ST_SPEED_OPTIMIZER
)
{
const
auto
&
speed_points
=
planning_data
->
speed_data
().
speed_vector
();
auto
ptr_speed_plan
=
ptr_debug
->
mutable_planning_data
()
->
add_speed_plan
();
ptr_speed_plan
->
set_name
(
name
);
ptr_speed_plan
->
mutable_speed_point
()
->
CopyFrom
(
{
speed_points
.
begin
(),
speed_points
.
end
()});
}
auto
ptr_stats
=
ptr_latency_stats
->
add_processor_stats
();
ptr_stats
->
set_name
(
name
);
...
...
@@ -151,7 +135,7 @@ Status EMPlanner::Plan(const TrajectoryPoint& planning_start_point,
if
(
FLAGS_enable_record_debug
&&
ptr_debug
!=
nullptr
&&
ptr_latency_stats
!=
nullptr
)
{
RecordDebugInfo
(
optimizer
->
name
(),
planning_data
,
time_diff_ms
,
ptr_debug
,
RecordDebugInfo
(
optimizer
->
name
(),
time_diff_ms
,
ptr_debug
,
ptr_latency_stats
);
}
}
...
...
modules/planning/planner/em/em_planner.h
浏览文件 @
f32a8229
...
...
@@ -77,7 +77,6 @@ class EMPlanner : public Planner {
void
PopulateDecision
(
Frame
*
frame
);
void
RecordDebugInfo
(
const
std
::
string
&
name
,
const
PlanningData
*
planning_data
,
const
double
time_diff_ms
,
planning_internal
::
Debug
*
ptr_debug
,
planning
::
LatencyStats
*
ptr_latency_stats
);
...
...
modules/planning/testdata/qp_spline_path/42_apollo_planning.pb.txt
浏览文件 @
f32a8229
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