spiral_smoother_util.cc 文件参考

#include "gflags/gflags.h"
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/common/util/util.h"
#include "modules/planning/planning_base/gflags/planning_gflags.h"
#include "modules/planning/planning_base/reference_line/spiral_reference_line_smoother.h"

spiral_smoother_util.cc 的引用(Include)关系图:

浏览源代码.

类
class	apollo::planning::SpiralSmootherUtil

命名空间
namespace	apollo
	class register implement
namespace	apollo::planning
	apollo::planning

函数
	DEFINE_string (input_file, "", "input file with format x,y per line")
	DEFINE_string (output_file, "", "output file with format x,y per line")
	DEFINE_double (smooth_length, 200.0, "Smooth this amount of length ")
	DEFINE_double (minimum_point_spacing, 5.0, "The minimum distance for input points.")
int	main (int argc, char *argv[])

函数说明

DEFINE_double() [1/2]

DEFINE_double	(	minimum_point_spacing	,
		5.	0,
		"The minimum distance for input points."
	)

DEFINE_double() [2/2]

DEFINE_double	(	smooth_length	,
		200.	0,
		"Smooth this amount of length "
	)

DEFINE_string() [1/2]

DEFINE_string	(	input_file	,
		""	,
		"input file with format	x,
		y per line"
	)

DEFINE_string() [2/2]

DEFINE_string	(	output_file	,
		""	,
		"output file with format	x,
		y per line"
	)

main()

int main	(	int	argc,
		char *	argv[]
	)

在文件 spiral_smoother_util.cc 第 161 行定义.

                                 {
  google::InitGoogleLogging(argv[0]);
  google::ParseCommandLineFlags(&argc, &argv, true);
 
  if (FLAGS_input_file.empty()) {
    AERROR << "need to provide --input_file";
    return 0;
  }
 
  std::vector<Eigen::Vector2d> raw_points =
      apollo::planning::SpiralSmootherUtil::ReadCoordinatesFromFile(
          FLAGS_input_file);
 
  std::vector<apollo::common::PathPoint> smooth_points;
  auto res =
      apollo::planning::SpiralSmootherUtil::Smooth(raw_points, &smooth_points);
  if (!res) {
    AERROR << "Failed to smooth a the line";
  }
 
  if (FLAGS_output_file.empty()) {
    FLAGS_output_file = FLAGS_input_file + ".smoothed";
    AINFO << "Output file not provided, set to: " << FLAGS_output_file;
  }
  apollo::planning::SpiralSmootherUtil::Export(FLAGS_output_file,
                                               smooth_points);
  return 0;
}