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Author: toutou205

common/op_planner/src/MappingHelpers.cpp

@@ -106,8 +106,11 @@ void MappingHelpers::ConstructRoadNetworkFromROSMessage(const std::vector<Utilit
     const std::vector<UtilityHNS::AisanCrossWalkFileReader::AisanCrossWalk>& crosswalk_data,
     const std::vector<UtilityHNS::AisanNodesFileReader::AisanNode>& nodes_data,
     const std::vector<UtilityHNS::AisanDataConnFileReader::DataConn>& conn_data,
-    const GPSPoint& origin, RoadNetwork& map, const bool& bSpecialFlag,
-    const bool& bFindLaneChangeLanes, const bool& bFindCurbsAndWayArea)
+    const GPSPoint& origin, 
+    RoadNetwork& map, 
+    const bool& bSpecialFlag,
+    const bool& bFindLaneChangeLanes, 
+    const bool& bFindCurbsAndWayArea)
 {
   vector<Lane> roadLanes;
   Lane lane_obj;

core_planning/lane_planner/lib/lane_planner/lane_planner_vmap.cpp

@@ -238,6 +238,7 @@ vector_map::Point find_nearest_point(const VectorMap& vmap, const vector_map::Po
 
   double distance = DBL_MAX;
   for (const vector_map::Point& p : vmap.points) {
+    //reference: https://cplusplus.com/reference/cmath/hypot/
     double d = hypot(p.bx - point.bx, p.ly - point.ly);
     if (d <= distance) {
       nearest_point = p;
@@ -590,6 +591,7 @@ VectorMap create_coarse_vmap_from_route(const tablet_socket_msgs::route_cmd& rou
 
 VectorMap create_fine_vmap(const VectorMap& lane_vmap, int lno, const VectorMap& coarse_vmap, double search_radius,
          int waypoint_max)
+         //fine 精细  coarse 粗
 {
   VectorMap fine_vmap;
   VectorMap null_vmap;

core_planning/op_global_planner/include/op_global_planner_core.h

@@ -75,7 +75,7 @@ class WayPlannerParams
 
   WayPlannerParams()
   {
-      bEnableDynamicMapUpdate = false;
+    bEnableDynamicMapUpdate = false;
     bEnableReplanning = false;
     bEnableHMI = false;
     bEnableSmoothing = false;

core_planning/op_global_planner/nodes/op_global_planner_core.cpp

@@ -400,6 +400,7 @@ void GlobalPlanner::MainLoop()
 {
   ros::Rate loop_rate(25);
   timespec animation_timer;
+  // GetTickCount 具体作用是啥？
   UtilityHNS::UtilityH::GetTickCount(animation_timer);
 
   while (ros::ok())
@@ -427,7 +428,7 @@ void GlobalPlanner::MainLoop()
     else if (m_params.mapSource == PlannerHNS::MAP_AUTOWARE && !m_bKmlMap)
     {
       std::vector<UtilityHNS::AisanDataConnFileReader::DataConn> conn_data;;
-
+    //根据地图是否有节点(Node):有节点：m_MapRaw.GetVersion()==2，无节点：m_MapRaw.GetVersion()==1
       if(m_MapRaw.GetVersion()==2)
       {
         std::cout << "Map Version 2" << endl;

core_planning/way_planner/include/way_planner_core.h

@@ -97,7 +97,7 @@ class AutowareRoadNetwork
     }
 };
 
-enum MAP_SOURCE_TYPE{MAP_AUTOWARE, MAP_FOLDER, MAP_KML_FILE};
+enum MAP_SOURCE_TYPE{MAP_AUTOWARE, MAP_FOLDER, MAP_KML_FILE}; //这几个枚举定义的是什么类型，没有整明白
 
 class WayPlannerParams
 {

core_planning/waypoint_maker/nodes/waypoint_extractor/waypoint_extractor.cpp

@@ -52,6 +52,17 @@ class WaypointExtractor
     std::string directory_path, filename, extension;
 
     tmp = file_path;
+    /*
+    reference
+    关于 std::string::size_type
+    https://ask.csdn.net/questions/7418788
+    */
+
+   /*
+   reference
+   关于 find_last_of
+   https://blog.csdn.net/zhangxiao93/article/details/54381613/
+   */
     const std::string::size_type idx_slash(tmp.find_last_of("/"));
     if (idx_slash != std::string::npos)
     {

core_planning/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp

@@ -225,7 +225,8 @@ FileFormat WaypointLoaderNode::checkFileFormat(const char* filename)
   // parse first line
   std::vector<std::string> parsed_columns;
   parseColumns(line, &parsed_columns);
-
+  //关于 isdigit
+  //https://blog.csdn.net/Guo___Liang/article/details/121981604
   // check if first element in the first column does not include digit
   if (!std::any_of(parsed_columns.at(0).cbegin(), parsed_columns.at(0).cend(), isdigit))
   {
@@ -288,6 +289,10 @@ void parseColumns(const std::string& line, std::vector<std::string>* columns)
   {
     while (1)
     {
+      /*
+      主要功能：删除字符串中多余的空格
+      然后将字符串填充到相应的容器中
+      */
       auto res = std::find(column.begin(), column.end(), ' ');  
       // 查找是否存在空格，查找成功则返回一个指向指定元素的迭代器 
       // reference:  https://blog.csdn.net/qq_43799400/article/details/122699509
@@ -306,7 +311,7 @@ void parseColumns(const std::string& line, std::vector<std::string>* columns)
       columns->emplace_back(column);
       // note by xz 20220810 
       //不为空，将字符串装载到容器 columns 里面
-      // reference:
+      // reference: https://blog.csdn.net/weixin_45880571/article/details/119450328
     }
   }
 }