reference_line_test.cc

#include "localization/localization_estimate.h"
#include "perception/perception_obstacle.h"
#include "plot/plot.h"
#include "reference_line/reference_line_provider.h"
#include "routing/routing_path.h"
#include <memory>
#include <unistd.h>

using namespace std;
namespace plt = matplotlibcpp;

int main(int argc, char const *argv[]) {
  std::vector<double> x = {0};
  std::vector<double> y = {0};

  plt::plot(x, y);

  //构造路由模块指针
  std::unique_ptr<RoutingPath> routing_path =
      std::make_unique<RoutingPath>(); //注意是make_unique

  //定位信息指针
  std::unique_ptr<LocalizationEstimate> localization =
      std::make_unique<LocalizationEstimate>();
  //障碍物信息
  std::unique_ptr<PerceptionObstacle> perception =
      std::make_unique<PerceptionObstacle>();
  //构造全局路径

  routing_path->CreatePath();
  //创建一个静态障碍物
  perception->AddStaticObstacle(0, 400, 20, 0,
                                0); //此代码执行错误，待查找原因
  auto routing_path_points = routing_path->routing_path_points();

  LocalizationInfo localization_info;
  ReferenceLine reference_line;     //当前参考线
  ReferenceLine pre_reference_line; //上一时刻参考线

  Trajectory trajectory;
  Trajectory pre_trajectory;
  uint64_t time = 0;

  // 2.参考线生成,参考新默认-30m~150m
  std::unique_ptr<ReferenceLineProvider> reference_line_provider =
      std::make_unique<ReferenceLineProvider>();
  pre_reference_line = reference_line;
  //传参应该是数据类型，而不是类的对象
  reference_line_provider->Provide(routing_path_points, localization_info,
                                   pre_reference_line, reference_line);
  std::unique_ptr<Plot> plot = std::make_unique<Plot>();

  plot->PlotRoutingPath(routing_path_points, "k");
  plot->PlotReferenceLine(reference_line, "y");

  plt::show();
  return 0;
}