udacity-path-planning 仿真器替换

一、轨迹文件解析

csv文件每一行存储一个点的数据，轨迹是最左车道的边界线

x

y

s

dx

dy

 

二、环境车数据解析

类似双层vector数组，std::vector<std::vector<double>>  sensor_fusion

vehicle.id=sensor_fusion[i][0];

vehicle.x=sensor_fusion[i][1];

vehicle.y=sensor_fusion[i][2];

vehicle.vx=sensor_fusion[i][3];

vehicle.vy=sensor_fusion[i][4];

vehicle.s=sensor_fusion[i][5];

vehicle.d=sensor_fusion[i][6];