jizhang-cmu / ground_based_autonomy_basic Goto Github PK

hello ,anyone can tell me which algorithm the path follower module used, I can not understand path follower module when i read the code.Thanks very much .

CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o：在函数‘laserCloudHandler(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator > const> const&)’中：
localPlanner.cpp:(.text+0x1e91)：对‘pcl::PCLBasepcl::PointXYZI::setInputCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o：在函数‘terrainCloudHandler(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator > const> const&)’中：
localPlanner.cpp:(.text+0x223f)：对‘pcl::PCLBasepcl::PointXYZI::setInputCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x20)：对‘pcl::PCLBasepcl::PointXYZI::setInputCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x28)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<std::vector<int, std::allocator > > const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x30)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<std::vector<int, std::allocator > const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x38)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x20)：对‘pcl::PCLBasepcl::PointXYZI::setInputCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x28)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<std::vector<int, std::allocator > > const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x30)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<std::vector<int, std::allocator > const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x38)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x20)：对‘pcl::PCLBasepcl::PointXYZI::setInputCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x28)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<std::vector<int, std::allocator > > const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x30)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<std::vector<int, std::allocator > const> const&)’未定义的引用
CMakeFiles/localPlanner.dir/src/localPlanner.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x38)：对‘pcl::PCLBasepcl::PointXYZI::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/localPlanner.dir/build.make:611: recipe for target '/home/ysz/autonomous_exploration_development_environment/devel_isolated/local_planner/lib/local_planner/localPlanner' failed
make[2]: *** [/home/ysz/autonomous_exploration_development_environment/devel_isolated/local_planner/lib/local_planner/localPlanner] Error 1
CMakeFiles/Makefile2:1381: recipe for target 'CMakeFiles/localPlanner.dir/all' failed
make[1]: *** [CMakeFiles/localPlanner.dir/all] Error 2
Makefile:159: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'local_planner':
Command '['/home/ysz/autonomous_exploration_development_environment/devel_isolated/loam_interface/env.sh', 'make', '-j8', '-l8']' returned non-zero exit status 2

float gridVoxelSize = 0.02;
float searchRadius = 0.45;
float gridVoxelOffsetX = 3.2;
float gridVoxelOffsetY = 4.5;
const int gridVoxelNumX = 161;
const int gridVoxelNumY = 451;

Hi， What is the purpose of these parameters？