From ae216521d97c137cdad22a05d6a86f13ffd9c01b Mon Sep 17 00:00:00 2001 From: yoshiri Date: Fri, 20 Oct 2023 11:05:47 +0900 Subject: [PATCH] add comment in generate path function Signed-off-by: yoshiri --- .../map_based_prediction/src/path_generator.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/perception/map_based_prediction/src/path_generator.cpp b/perception/map_based_prediction/src/path_generator.cpp index 73ae523a4f63d..5cb7e186b7cc4 100644 --- a/perception/map_based_prediction/src/path_generator.cpp +++ b/perception/map_based_prediction/src/path_generator.cpp @@ -223,13 +223,16 @@ FrenetPath PathGenerator::generateFrenetPath( path.reserve(static_cast(duration / sampling_time_interval_)); for (double t = 0.0; t <= duration; t += sampling_time_interval_) { - const double d_next_ = current_point.d + current_point.d_vel * t + 0 * 2 * std::pow(t, 2) + - lat_coeff(0) * std::pow(t, 3) + lat_coeff(1) * std::pow(t, 4) + - lat_coeff(2) * std::pow(t, 5); + const double current_acc = + 0.0; // Currently we assume the object is traveling at a constant speed + const double d_next_ = current_point.d + current_point.d_vel * t + + current_acc * 2.0 * std::pow(t, 2) + lat_coeff(0) * std::pow(t, 3) + + lat_coeff(1) * std::pow(t, 4) + lat_coeff(2) * std::pow(t, 5); // t > lateral_duration: 0.0, else d_next_ const double d_next = t > lateral_duration ? 0.0 : d_next_; - const double s_next = current_point.s + current_point.s_vel * t + 2 * 0 * std::pow(t, 2) + - lon_coeff(0) * std::pow(t, 3) + lon_coeff(1) * std::pow(t, 4); + const double s_next = current_point.s + current_point.s_vel * t + + 2.0 * current_acc * std::pow(t, 2) + lon_coeff(0) * std::pow(t, 3) + + lon_coeff(1) * std::pow(t, 4); if (s_next > max_length) { break; }