find_nearest_point

toutou205 · toutou205 · commit afa5ab4c69d7 · 2022-08-12T11:13:58.000+08:00
diff --git a/core_planning/lane_planner/lib/lane_planner/lane_planner_vmap.cpp b/core_planning/lane_planner/lib/lane_planner/lane_planner_vmap.cpp
@@ -234,7 +234,7 @@ vector_map::Point find_arrival_point(const VectorMap& lane_vmap, int lno,
 vector_map::Point find_nearest_point(const VectorMap& vmap, const vector_map::Point& point)
 {
   vector_map::Point nearest_point;
-  nearest_point.pid = -1;
+  nearest_point.pid = -1; //设置为-1，如果返回的pid<0代表没有找到最近点
 
   double distance = DBL_MAX;
   for (const vector_map::Point& p : vmap.points) {

Original file line number	Diff line number	Diff line change
`@@ -234,7 +234,7 @@ vector_map::Point find_arrival_point(const VectorMap& lane_vmap, int lno,`
`234`	`234`	`vector_map::Point find_nearest_point(const VectorMap& vmap, const vector_map::Point& point)`
`235`	`235`	`{`
`236`	`236`	`vector_map::Point nearest_point;`
`237`		`- nearest_point.pid = -1;`
	`237`	`+ nearest_point.pid = -1; //设置为-1，如果返回的pid<0代表没有找到最近点`
`238`	`238`
`239`	`239`	`double distance = DBL_MAX;`
`240`	`240`	`for (const vector_map::Point& p : vmap.points) {`