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apollo
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体验新版 GitCode,发现更多精彩内容 >>
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faf811b9
编写于
7月 27, 2017
作者:
J
Jiangtao Hu
提交者:
Yifei Jiang
7月 27, 2017
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电子邮件补丁
差异文件
record planning init point into debug.
上级
4702c049
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
15 addition
and
5 deletion
+15
-5
modules/planning/planning.cc
modules/planning/planning.cc
+12
-2
modules/planning/proto/planning_internal.proto
modules/planning/proto/planning_internal.proto
+3
-2
modules/tools/diagnostics/batch_include.py
modules/tools/diagnostics/batch_include.py
+0
-1
未找到文件。
modules/planning/planning.cc
浏览文件 @
faf811b9
...
...
@@ -200,6 +200,11 @@ bool Planning::Plan(const bool is_on_auto_mode, const double publish_time,
auto
matched_info
=
ComputeStartingPointFromLastTrajectory
(
execution_start_time
);
TrajectoryPoint
matched_point
=
matched_info
.
first
;
if
(
FLAGS_enable_record_debug
)
{
trajectory_pb
->
mutable_debug
()
->
mutable_planning_data
()
->
mutable_init_point
()
->
CopyFrom
(
matched_point
);
}
std
::
uint32_t
matched_index
=
matched_info
.
second
;
// Compute the position deviation between current vehicle
...
...
@@ -239,10 +244,15 @@ bool Planning::Plan(const bool is_on_auto_mode, const double publish_time,
// 2. we don't have the trajectory from last planning cycle or
// 3. the position deviation from actual and target is too high
// then planning from current vehicle state.
TrajectoryPoint
vehicle_sta
te
_point
=
TrajectoryPoint
vehicle_sta
rt
_point
=
ComputeStartingPointFromVehicleState
(
planning_cycle_time
);
auto
status
=
planner_
->
MakePlan
(
vehicle_state_point
,
trajectory_pb
);
if
(
FLAGS_enable_record_debug
)
{
trajectory_pb
->
mutable_debug
()
->
mutable_planning_data
()
->
mutable_init_point
()
->
CopyFrom
(
vehicle_start_point
);
}
auto
status
=
planner_
->
MakePlan
(
vehicle_start_point
,
trajectory_pb
);
if
(
!
status
.
ok
())
{
last_trajectory_
.
clear
();
return
false
;
...
...
modules/planning/proto/planning_internal.proto
浏览文件 @
faf811b9
...
...
@@ -87,7 +87,7 @@ message PathDebug {
optional
apollo.common.Path
path
=
2
;
}
// next id: 1
0
// next id: 1
1
message
PlanningData
{
optional
apollo.common.Header
header
=
1
;
...
...
@@ -95,13 +95,14 @@ message PlanningData {
optional
apollo.localization.LocalizationEstimate
adc_position
=
7
;
optional
apollo.canbus.Chassis
chassis
=
8
;
optional
apollo.hdmap.RoutingResult
routing
=
9
;
optional
apollo.common.TrajectoryPoint
init_point
=
10
;
optional
apollo.localization.Pose
init_status
=
2
;
// initial status of adc
// processed planning_obstacles
repeated
PlanningObstacle
planning_obstacle
=
4
;
repeated
PathDebug
path
=
6
;
optional
apollo.localization.Pose
init_status
=
2
[
deprecated
=
true
];
// initial status of adc
optional
apollo.planning.MainDecision
main_decision
=
3
[
deprecated
=
true
];
optional
LightSignal
light_signal
=
5
[
deprecated
=
true
];
}
modules/tools/diagnostics/batch_include.py
浏览文件 @
faf811b9
...
...
@@ -19,7 +19,6 @@
from
modules.canbus.proto
import
chassis_detail_pb2
from
modules.canbus.proto
import
chassis_pb2
from
modules.common.monitor.proto
import
monitor_pb2
from
modules.common.configs.proto
import
config_extrinsics_pb2
from
modules.common.configs.proto
import
vehicle_config_pb2
from
modules.common.proto
import
geometry_pb2
from
modules.common.proto
import
header_pb2
...
...
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