对每一条lane，replanner_都调用replanLaneWaypointVel函数。

toutou205 · toutou205 · commit 2a5fa5249547 · 2022-08-12T09:08:51.000+08:00
diff --git a/core_planning/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner_node.cpp b/core_planning/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner_node.cpp
@@ -85,7 +85,7 @@ void WaypointReplannerNode::replan(autoware_msgs::LaneArray& lane_array)
 {
   for (auto &el : lane_array.lanes)
   {
-    replanner_.replanLaneWaypointVel(el);
+    replanner_.replanLaneWaypointVel(el);//对每一条lane，replanner_都调用replanLaneWaypointVel函数。
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -85,7 +85,7 @@ void WaypointReplannerNode::replan(autoware_msgs::LaneArray& lane_array)`
`85`	`85`	`{`
`86`	`86`	`for (auto &el : lane_array.lanes)`
`87`	`87`	`{`
`88`		`- replanner_.replanLaneWaypointVel(el);`
	`88`	`+ replanner_.replanLaneWaypointVel(el);//对每一条lane，replanner_都调用replanLaneWaypointVel函数。`
`89`	`89`	`}`
`90`	`90`	`}`
`91`	`91`