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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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Path Planning(M-step) DP search: why static obs cost calculation is based on Frenet coordinate system? moving obs cost calculation is based on Cartesian coordinate system? #6981

Closed KevinYuk closed 5 years ago

KevinYuk commented 5 years ago

I print the static obs bounding box (need convert from Frenet coordinate to Cartesian coordinate); while, for moving obs, just need directly print this min max corner(don't need convert).

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jmtao commented 5 years ago

@KevinYuk I think you've pointed out why. In the line you marked as above, GetCostBetweenObsBoxes(), the bounding boxes of other obstacles along their trajectory are based on Cartesian coordinate, provided by Prediction module.