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ApolloAuto / apollo

An open autonomous driving platform
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[Question] stitching trajactory & relative time in TrajectoryPoint #14750

Closed InterKnight closed 1 year ago

InterKnight commented 1 year ago

Thank you for great job!

I am new in digging into apollo and have some questions about open_space_trajectory_provider.cc.

1，why this two “planning_cycle_time” are different？

https://github.com/ApolloAuto/apollo/blob/b00c030ac02c54f98579d3d3e879dbf52f0d1d53/modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_provider.cc#L120

https://github.com/ApolloAuto/apollo/blob/b00c030ac02c54f98579d3d3e879dbf52f0d1d53/modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_provider.cc#L131

2，why relative_time is not 0 in follow file ？it is the first point in trajectory https://github.com/ApolloAuto/apollo/blob/b00c030ac02c54f98579d3d3e879dbf52f0d1d53/modules/planning/common/trajectory_stitcher.cc#L54

jilinzhou commented 1 year ago
  1. They have the same value of 0.1s.
  2. Take a look of this commit: https://github.com/ApolloAuto/apollo/commit/b9e8a2698df813d9d99a4ae644e3a773e2737ea. In summary, the planning init point in the current cycle should be 0.1s ahead of the current time.