search

ZJU-FAST-Lab / ego-planner

GNU General Public License v3.0
1.31k stars 268 forks source link

Question about BsplineOptimizer #39

Closed cygong closed 2 years ago

cygong commented 2 years ago

i am trying to understanding your code. i want to ask for Question about BsplineOptimizer. In Function BsplineOptimizer::initControlPoints:

1.what is different between "segment_ids", "bounds" and "final_segment_ids"? 2.How can from get {p and v} "a_star_pathes" and "segment_ids"? "intersection_point" ?

Thanks

bigsuperZZZX commented 2 years ago

同学建议你还是讲中文吧

cygong commented 2 years ago

我看论文里面提到的p and v 的计算非常少。我想问一下，具体在编程实践里面是怎么做的？ 比如 在BsplineOptimizer::initControlPoints这个程序里面： "segment_ids", "bounds" and "final_segment_ids" 这三个变量的不同是什么？ 程序是怎么通过a_star_pathes 和Q进行匹配，然后生成 p和v 的？

谢谢。