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体验新版 GitCode,发现更多精彩内容 >>
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fd1c92ba
编写于
1月 31, 2018
作者:
D
Dong Li
提交者:
Liangliang Zhang
1月 31, 2018
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电子邮件补丁
差异文件
path: added next lane overlap function
上级
11aca940
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
14 addition
and
3 deletion
+14
-3
modules/map/pnc_map/path.cc
modules/map/pnc_map/path.cc
+11
-0
modules/map/pnc_map/path.h
modules/map/pnc_map/path.h
+2
-0
modules/planning/reference_line/reference_line.cc
modules/planning/reference_line/reference_line.cc
+1
-3
未找到文件。
modules/map/pnc_map/path.cc
浏览文件 @
fd1c92ba
...
...
@@ -408,6 +408,17 @@ void Path::GetAllOverlaps(GetOverlapFromLaneFunc GetOverlaps_from_lane,
});
}
const
PathOverlap
*
Path
::
NextLaneOverlap
(
double
s
)
const
{
auto
next
=
std
::
upper_bound
(
lane_overlaps_
.
begin
(),
lane_overlaps_
.
end
(),
s
,
[](
double
s
,
const
PathOverlap
&
o
)
{
return
s
<
o
.
start_s
;
});
if
(
next
==
lane_overlaps_
.
end
())
{
return
nullptr
;
}
else
{
return
&
(
*
next
);
}
}
void
Path
::
InitOverlaps
()
{
GetAllOverlaps
(
std
::
bind
(
&
LaneInfo
::
cross_lanes
,
_1
),
&
lane_overlaps_
);
GetAllOverlaps
(
std
::
bind
(
&
LaneInfo
::
signals
,
_1
),
&
signal_overlaps_
);
...
...
modules/map/pnc_map/path.h
浏览文件 @
fd1c92ba
...
...
@@ -264,6 +264,8 @@ class Path {
const
PathApproximation
*
approximation
()
const
{
return
&
approximation_
;
}
double
length
()
const
{
return
length_
;
}
const
PathOverlap
*
NextLaneOverlap
(
double
s
)
const
;
const
std
::
vector
<
PathOverlap
>&
lane_overlaps
()
const
{
return
lane_overlaps_
;
}
...
...
modules/planning/reference_line/reference_line.cc
浏览文件 @
fd1c92ba
...
...
@@ -369,9 +369,7 @@ const std::vector<ReferencePoint>& ReferenceLine::reference_points() const {
return
reference_points_
;
}
const
MapPath
&
ReferenceLine
::
map_path
()
const
{
return
map_path_
;
}
const
MapPath
&
ReferenceLine
::
map_path
()
const
{
return
map_path_
;
}
bool
ReferenceLine
::
GetLaneWidth
(
const
double
s
,
double
*
const
left_width
,
double
*
const
right_width
)
const
{
...
...
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