diff --git a/docs/03_Package Management/introduction_to_package_of_apollo.md b/docs/03_Package Management/introduction_to_package_of_apollo.md index 516457cef1..b7c35c9463 100644 --- a/docs/03_Package Management/introduction_to_package_of_apollo.md +++ b/docs/03_Package Management/introduction_to_package_of_apollo.md @@ -2,7 +2,7 @@ ## Overview -This article briefly introduces how to develop an Apollo extension module, with a simple example of how to create the project code of an extension module and the role of the necessary files contained in it. It alos explains how to use the buildtool to compile the extension module. +This article briefly introduces how to develop an Apollo extension module, with a simple example of how to create the project code of an extension module and the role of the necessary files contained in it. It also explains how to use the buildtool to compile the extension module. To read this article you need a preliminary grasp of diff --git a/docs/07_Prediction/prediction_evaluator.md b/docs/07_Prediction/prediction_evaluator.md index 008b6f6b71..4deeefcde8 100644 --- a/docs/07_Prediction/prediction_evaluator.md +++ b/docs/07_Prediction/prediction_evaluator.md @@ -27,7 +27,7 @@ The list of available evaluators include: # Where is the code -Please refer [prediction evaluator](https://github.com/ApolloAuto/apollo/modules/prediction/evaluator). +Please refer [prediction evaluator](../../../apollo/modules/prediction/evaluator/). # Code Reading diff --git a/docs/07_Prediction/prediction_predictor.md b/docs/07_Prediction/prediction_predictor.md index f388bb5f4d..d93d1e8f27 100644 --- a/docs/07_Prediction/prediction_predictor.md +++ b/docs/07_Prediction/prediction_predictor.md @@ -20,12 +20,12 @@ Here, we mainly introduce three typical predictors，extrapolation predictor, mo # Where is the code -Please refer [prediction predictor](https://github.com/ApolloAuto/apollo/modules/prediction/predictor). +Please refer [prediction predictor](../../../apollo/modules/prediction/predictor/). # Code Reading ## Extrapolation predictor -1. This predictor is used to extend the Semantic LSTM evaluator's results to creat a long-term trajectroy(which is 8 sec). +1. This predictor is used to extend the Semantic LSTM evaluator's results to creat a long-term trajectory(which is 8 sec). 2. There are two main kinds of extrapolation, extrapolate by lane and extrapolate by free move. 1. Base on a search radium and an angle threshold, which can be changed in perdiction config, we get most likely lane that best matches the short-term predicted trajectory obtained from Semantic LSTM evaluator. @@ -67,7 +67,7 @@ Please refer [prediction predictor](https://github.com/ApolloAuto/apollo/modules ## Move sequence predictor 1. Obstacle moves along the lanes by its kinetic pattern. -2. Ingore those lane sequences with lower probability. +2. Ignore those lane sequences with lower probability. ```cpp void FilterLaneSequences( const Feature& feature, const std::string& lane_id, @@ -107,14 +107,14 @@ Please refer [prediction predictor](https://github.com/ApolloAuto/apollo/modules ``` total_cost = w_acc * cost_acc + w_centri * cost_centri + w_collision * cost_collision ``` -Note that, the collsion cost is calucalated by the distance between ADC and obstacles. +Note that, the collsion cost is calculated by the distance between ADC and obstacles. ```cpp double ComputeTrajectoryCost( const Obstacle& obstacle, const LaneSequence& lane_sequence, const double acceleration, const ADCTrajectoryContainer* adc_trajectory_container); ``` -4. We use the following equration to compute the likelihood for each short-term predicted trajectory. +4. We use the following equation to compute the likelihood for each short-term predicted trajectory. ``` likelihood = exp (-alpha * total_cost), the alpha can be changed in prediction gflag file. diff --git a/docs/09_Decider/open_space_decider.md b/docs/09_Decider/open_space_decider.md index ed30e17f91..f06cc5783c 100644 --- a/docs/09_Decider/open_space_decider.md +++ b/docs/09_Decider/open_space_decider.md @@ -8,7 +8,7 @@ Open space decider is used to process related infomation and provide information # Where is the code -Please refer [open space decider](https://github.com/ApolloAuto/apollo/modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc). +Please refer [open space decider](../../../apollo/modules/planning/tasks/open_space_roi_decider/open_space_roi_decider.cc). # Code Reading diff --git a/docs/12_Map acquisition/how_to_run_map_verification_tool.md b/docs/12_Map acquisition/how_to_run_map_verification_tool.md index adbf4cfc38..8d3e35bf0d 100644 --- a/docs/12_Map acquisition/how_to_run_map_verification_tool.md +++ b/docs/12_Map acquisition/how_to_run_map_verification_tool.md @@ -7,7 +7,7 @@ The Map Data Verification tool is designed to help Apollo developers detect any In order to run your data on this tool, please follow the steps below: 1. Build Apollo as recommended in the [Build Guide](../01_Installation%20Instructions/apollo_software_installation_guide.md) until the `./apollo.sh build` step. -2. Once instde dev docker and after running `./apollo.sh build` please go to the folder `modules/tools/map_datachecker/` +2. Once inside dev docker and after running `./apollo.sh build` please go to the folder `modules/tools/map_datachecker/` 3. Starting the server: ```bash bash server.sh start