apollo::routing::edge_creator 命名空间参考

函数
void	GetPbEdge (const Node &node_from, const Node &node_to, const Edge::DirectionType &type, const RoutingConfig &routing_config, Edge *edge)

函数说明

GetPbEdge()

void apollo::routing::edge_creator::GetPbEdge	(	const Node &	node_from,
		const Node &	node_to,
		const Edge::DirectionType &	type,
		const RoutingConfig &	routing_config,
		Edge *	edge
	)

在文件 edge_creator.cc 第 25 行定义.

                                                                {
  edge->set_from_lane_id(node_from.lane_id());
  edge->set_to_lane_id(node_to.lane_id());
  edge->set_direction_type(type);
 
  edge->set_cost(0.0);
  if (type == Edge::LEFT || type == Edge::RIGHT) {
    const auto& target_range =
        (type == Edge::LEFT) ? node_from.left_out() : node_from.right_out();
    double changing_area_length = 0.0;
    for (const auto& range : target_range) {
      changing_area_length += range.end().s() - range.start().s();
    }
    double ratio = 1.0;
    if (changing_area_length < routing_config.base_changing_length()) {
      ratio = std::pow(
          changing_area_length / routing_config.base_changing_length(), -1.5);
    }
    edge->set_cost(routing_config.change_penalty() * ratio);
  }
}