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体验新版 GitCode,发现更多精彩内容 >>
提交
f85209a7
编写于
8月 03, 2017
作者:
J
Jiangtao Hu
提交者:
Dong Li
8月 03, 2017
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电子邮件补丁
差异文件
add st graph debug into debug pb.
上级
aaa14b0c
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
36 addition
and
5 deletion
+36
-5
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
...imizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
+27
-0
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.h
...timizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.h
+4
-0
modules/planning/planner/em/em_planner.cc
modules/planning/planner/em/em_planner.cc
+4
-0
modules/planning/proto/planning_internal.proto
modules/planning/proto/planning_internal.proto
+1
-5
未找到文件。
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc
浏览文件 @
f85209a7
...
@@ -59,6 +59,32 @@ bool QpSplineStSpeedOptimizer::Init() {
...
@@ -59,6 +59,32 @@ bool QpSplineStSpeedOptimizer::Init() {
return
true
;
return
true
;
}
}
void
QpSplineStSpeedOptimizer
::
RecordSTGraphDebug
(
const
std
::
vector
<
StGraphBoundary
>&
boundaries
,
const
SpeedLimit
&
speed_limits
)
{
if
(
!
FLAGS_enable_record_debug
)
{
ADEBUG
<<
"Skip record debug info"
;
return
;
}
auto
debug
=
frame_
->
MutableADCTrajectory
()
->
mutable_debug
();
auto
st_graph_debug
=
debug
->
mutable_planning_data
()
->
add_st_graph
();
st_graph_debug
->
set_name
(
name
());
for
(
const
auto
&
boundary
:
boundaries
)
{
auto
boundary_debug
=
st_graph_debug
->
add_boundary
();
boundary_debug
->
set_name
(
boundary
.
id
());
for
(
const
auto
&
point
:
boundary
.
points
())
{
auto
point_debug
=
boundary_debug
->
add_point
();
point_debug
->
set_t
(
point
.
x
());
point_debug
->
set_s
(
point
.
y
());
}
}
st_graph_debug
->
mutable_speed_limit
()
->
CopyFrom
(
{
speed_limits
.
speed_points
().
begin
(),
speed_limits
.
speed_points
().
end
()});
}
Status
QpSplineStSpeedOptimizer
::
Process
(
const
PathData
&
path_data
,
Status
QpSplineStSpeedOptimizer
::
Process
(
const
PathData
&
path_data
,
const
TrajectoryPoint
&
init_point
,
const
TrajectoryPoint
&
init_point
,
const
ReferenceLine
&
reference_line
,
const
ReferenceLine
&
reference_line
,
...
@@ -88,6 +114,7 @@ Status QpSplineStSpeedOptimizer::Process(const PathData& path_data,
...
@@ -88,6 +114,7 @@ Status QpSplineStSpeedOptimizer::Process(const PathData& path_data,
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
return
Status
(
ErrorCode
::
PLANNING_ERROR
,
"Mapping obstacle for dp st speed optimizer failed!"
);
"Mapping obstacle for dp st speed optimizer failed!"
);
}
}
RecordSTGraphDebug
(
boundaries
,
speed_limits
);
// step 2 perform graph search
// step 2 perform graph search
const
auto
&
veh_param
=
const
auto
&
veh_param
=
...
...
modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.h
浏览文件 @
f85209a7
...
@@ -45,6 +45,10 @@ class QpSplineStSpeedOptimizer : public SpeedOptimizer {
...
@@ -45,6 +45,10 @@ class QpSplineStSpeedOptimizer : public SpeedOptimizer {
const
ReferenceLine
&
reference_line
,
const
ReferenceLine
&
reference_line
,
DecisionData
*
const
decision_data
,
DecisionData
*
const
decision_data
,
SpeedData
*
const
speed_data
)
override
;
SpeedData
*
const
speed_data
)
override
;
void
RecordSTGraphDebug
(
const
std
::
vector
<
StGraphBoundary
>&
boundaries
,
const
SpeedLimit
&
speed_limits
);
QpSplineStSpeedConfig
qp_spline_st_speed_config_
;
QpSplineStSpeedConfig
qp_spline_st_speed_config_
;
StBoundaryConfig
st_boundary_config_
;
StBoundaryConfig
st_boundary_config_
;
};
};
...
...
modules/planning/planner/em/em_planner.cc
浏览文件 @
f85209a7
...
@@ -88,6 +88,10 @@ void EMPlanner::RecordDebugInfo(const std::string& name,
...
@@ -88,6 +88,10 @@ void EMPlanner::RecordDebugInfo(const std::string& name,
const
double
time_diff_ms
,
const
double
time_diff_ms
,
planning_internal
::
Debug
*
ptr_debug
,
planning_internal
::
Debug
*
ptr_debug
,
planning
::
LatencyStats
*
ptr_latency_stats
)
{
planning
::
LatencyStats
*
ptr_latency_stats
)
{
if
(
!
FLAGS_enable_record_debug
)
{
ADEBUG
<<
"Skip record debug info"
;
return
;
}
OptimizerType
type
;
OptimizerType
type
;
DCHECK
(
OptimizerType_Parse
(
name
,
&
type
));
DCHECK
(
OptimizerType_Parse
(
name
,
&
type
));
if
(
type
==
DP_POLY_PATH_OPTIMIZER
||
type
==
QP_SPLINE_PATH_OPTIMIZER
)
{
if
(
type
==
DP_POLY_PATH_OPTIMIZER
||
type
==
QP_SPLINE_PATH_OPTIMIZER
)
{
...
...
modules/planning/proto/planning_internal.proto
浏览文件 @
f85209a7
...
@@ -92,14 +92,10 @@ message StGraphBoundaryDebug {
...
@@ -92,14 +92,10 @@ message StGraphBoundaryDebug {
repeated
apollo.common.SpeedPoint
point
=
2
;
repeated
apollo.common.SpeedPoint
point
=
2
;
}
}
message
SpeedLimitDebug
{
repeated
apollo.common.SpeedPoint
point
=
1
;
}
message
STGraphDebug
{
message
STGraphDebug
{
optional
string
name
=
1
;
optional
string
name
=
1
;
repeated
StGraphBoundaryDebug
boundary
=
2
;
repeated
StGraphBoundaryDebug
boundary
=
2
;
optional
SpeedLimitDebug
speed_limit
=
3
;
repeated
apollo.common.SpeedPoint
speed_limit
=
3
;
}
}
// next id: 15
// next id: 15
...
...
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