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fix:fixed the issue of local use of global variables. #15551

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fix:fixed the issue of local use of global variables. #15551

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31 changes: 13 additions & 18 deletions modules/planning/planning_open_space/coarse_trajectory_generator/grid_search.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -28,22 +28,19 @@ using apollo::common::math::Vec2d;
GridSearch::GridSearch(const PlannerOpenSpaceConfig& open_space_conf) {
xy_grid_resolution_ =
open_space_conf.warm_start_config().grid_a_star_xy_resolution();
node_radius_ =
open_space_conf.warm_start_config().node_radius();
node_radius_ = open_space_conf.warm_start_config().node_radius();
}

double GridSearch::EuclidDistance(
const double x1, const double y1, const double x2, const double y2) {
double GridSearch::EuclidDistance(const double x1, const double y1,
const double x2, const double y2) {
return std::sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
}

bool GridSearch::CheckConstraints(std::shared_ptr<Node2d> node) {
const double node_grid_x = node->GetGridX();
const double node_grid_y = node->GetGridY();
if (node_grid_x > max_grid_x_ ||
node_grid_x < 0 ||
node_grid_y > max_grid_y_ ||
node_grid_y < 0) {
if (node_grid_x > max_grid_x_ || node_grid_x < 0 ||
node_grid_y > max_grid_y_ || node_grid_y < 0) {
return false;
}
if (obstacles_linesegments_vec_.empty()) {
Expand All @@ -52,8 +49,8 @@ bool GridSearch::CheckConstraints(std::shared_ptr<Node2d> node) {
for (const auto& obstacle_linesegments : obstacles_linesegments_vec_) {
for (const common::math::LineSegment2d& linesegment :
obstacle_linesegments) {
if (linesegment.DistanceTo({node->GetGridX(), node->GetGridY()})
< node_radius_) {
if (linesegment.DistanceTo({node->GetGridX(), node->GetGridY()}) <
node_radius_) {
return false;
}
}
Expand Down Expand Up @@ -120,7 +117,7 @@ bool GridSearch::GenerateAStarPath(
std::make_shared<Node2d>(sx, sy, xy_grid_resolution_, XYbounds_);
std::shared_ptr<Node2d> end_node =
std::make_shared<Node2d>(ex, ey, xy_grid_resolution_, XYbounds_);
std::shared_ptr<Node2d> final_node_ = nullptr;
final_node_ = nullptr;
obstacles_linesegments_vec_ = obstacles_linesegments_vec;
open_set.emplace(start_node->GetIndex(), start_node);
open_pq.emplace(start_node->GetIndex(), start_node->GetCost());
Expand Down Expand Up @@ -168,13 +165,11 @@ bool GridSearch::GenerateAStarPath(
}

bool GridSearch::GenerateDpMap(
const double ex,
const double ey,
const std::vector<double>& XYbounds,
const std::vector<std::vector<common::math::LineSegment2d>>&
obstacles_linesegments_vec,
const std::vector<std::vector<common::math::LineSegment2d>>&
soft_boundary_linesegments_vec) {
const double ex, const double ey, const std::vector<double>& XYbounds,
const std::vector<std::vector<common::math::LineSegment2d>>&
obstacles_linesegments_vec,
const std::vector<std::vector<common::math::LineSegment2d>>&
soft_boundary_linesegments_vec) {
std::priority_queue<std::pair<std::string, double>,
std::vector<std::pair<std::string, double>>, cmp>
open_pq;
Expand Down