feat(behavior_path_planner): keep original points in resampling of pull over #2478
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kosuke55
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kosuke55
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Dec 8, 2022
| @@ -66,7 +67,7 @@ PathWithLaneId resamplePathWithSpline(const PathWithLaneId & path, double interv | |||
| transformed_path.at(i) = path.points.at(i).point; | |||
| } | |||
|
|
|||
| constexpr double epsilon = 0.01; | |||
| constexpr double epsilon = 0.1; | |||
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0.01 seems too close and sometimes causes path distortion.
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Suggested change
| constexpr double epsilon = 0.1; | |
| constexpr double epsilon = 0.2; |
is better from @TakaHoribe
Codecov ReportBase: 10.56% // Head: 10.48% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2478 +/- ##
==========================================
- Coverage 10.56% 10.48% -0.09%
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Files 1264 1264
Lines 87260 88234 +974
Branches 20936 21637 +701
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+ Hits 9222 9249 +27
- Misses 68157 69031 +874
- Partials 9881 9954 +73
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
This reverts commit edfb2d5. Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…ll over (autowarefoundation#2478) * feat(behavior_path_planner): keep original points in resampling Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/src/path_utilities.cpp Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * change motion_utils::overlap_threshold to 0.2 and use it Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Revert "change motion_utils::overlap_threshold to 0.2 and use it" This reverts commit edfb2d5. Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * keep input points only in pull over Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Add comment of temporary processe Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp>
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Signed-off-by: kosuke55 kosuke.tnp@gmail.com
Description
resamplePathWithSplinefalsedefaultly, so in each scene module do not keep the orintal points unintentionally (not to increase calculation cost)Related links
tier4 internal slack
Tests performed
psim, real vehicle
tier4 internal scenario test
821/825 -> 821/825
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