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GenerateLocalConfigurations 在 shortest_path->segs_lengths 元素为 0 时结果不对 #15135

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Aglargil opened this issue Sep 14, 2023 · 0 comments · May be fixed by #15136
Open

GenerateLocalConfigurations 在 shortest_path->segs_lengths 元素为 0 时结果不对 #15135

Aglargil opened this issue Sep 14, 2023 · 0 comments · May be fixed by #15136

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@Aglargil
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apollo/modules/planning/open_space/coarse_trajectory_generator/reeds_shepp_path.cc

Line 923 in a3c851f

bool ReedShepp::GenerateLocalConfigurations(

输入

start_node: -3.37 0.45 -1.5708
end_node: -2.86341 -0.05 0
max_kappa: 2
step_size: 0.1
seg_type:SLS
seg_length[0]: 0 seg_length[1]: 1.5708 seg_length[2]: 0.013187

输出

x: -3.37 y: 0.45 phi: -1.5708 gear: 0
x: -3.36003 y: 0.549335 phi: -1.7708 gear: 0
x: -3.37 y: 0.45 phi: -1.5708 gear: 0
x: -3.36003 y: 0.350665 phi: -1.3708 gear: 1
x: -3.33053 y: 0.255291 phi: -1.1708 gear: 1
x: -3.28267 y: 0.167679 phi: -0.970796 gear: 1
x: -3.21835 y: 0.091322 phi: -0.770796 gear: 1
x: -3.14015 y: 0.0292645 phi: -0.570796 gear: 1
x: -3.05118 y: -0.0160195 phi: -0.370796 gear: 1
x: -2.95498 y: -0.0427249 phi: -0.170796 gear: 1
x: -2.86341 y: -0.05 phi: 0 gear: 1

seg_length[0]: 0
其中第一行和第三行是重复的，不符合要求
Aglargil added a commit to Aglargil/apollo that referenced this issue Sep 14, 2023
@Aglargil
Planning: reeds_shepp_path GenerateLocalConfigurations fix
dbcb770 
修复当segs_lengths元素值为0时生成结果错误的问题

Fixes ApolloAuto#15135
@Aglargil Aglargil linked a pull request Sep 14, 2023 that will close this issue
Open
Aglargil added a commit to Aglargil/apollo that referenced this issue Sep 14, 2023
@Aglargil
Planning: reeds_shepp_path GenerateLocalConfigurations fix
5059649 
修复当segs_lengths元素值为0时生成结果错误的问题

Fixes ApolloAuto#15135
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Planning: reeds_shepp_path GenerateLocalConfigurations fix Aglargil/apollo
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@Aglargil