Planning: set minimum spline number to 1, and added check before addi…

…ng third derivative constraints in qp path optimizer. (ApolloAuto#630)
outsider7 · Oct 10, 2017 · 6bb58c9 · 6bb58c9
1 parent 5d70d69
commit 6bb58c9
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Showing 15 changed files with 9,752 additions and 9,659 deletions.
diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
@@ -35,7 +35,7 @@ DEFINE_bool(publish_estop, false, "publish estop decision in planning");
 DEFINE_bool(enable_trajectory_stitcher, true, "enable stitching trajectory");
 
 DEFINE_double(
-    look_backward_distance, 10,
+    look_backward_distance, 30,
     "look backward this distance when creating reference line from routing");
 
 DEFINE_double(

diff --git a/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc b/modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc
@@ -197,7 +197,7 @@ bool QpSplinePathGenerator::InitSpline(const double start_s,
                                        const double end_s) {
   uint32_t number_of_spline = static_cast<uint32_t>(
       (end_s - start_s) / qp_spline_path_config_.max_spline_length());
-  number_of_spline = std::max(2u, number_of_spline);
+  number_of_spline = std::max(1u, number_of_spline);
   common::util::uniform_slice(start_s, end_s, number_of_spline, &knots_);
   // spawn a new spline generator
   spline_generator_.reset(
@@ -298,7 +298,8 @@ bool QpSplinePathGenerator::AddConstraint(
   }
 
   // add spline joint third derivative constraint
-  if (!spline_constraint->AddThirdDerivativeSmoothConstraint()) {
+  if (knots_.size() >= 2 &&
+      !spline_constraint->AddThirdDerivativeSmoothConstraint()) {
     AERROR << "Add spline joint third derivative constraint failed!";
     return false;
   }