docs(start_planner): update start planner docs #4019
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kosuke55
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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| @@ -58,10 +67,10 @@ PullOutPath --o PullOutPlannerBase | |||
| | collision_check_margin | [m] | double | Obstacle collision check margin | 1.0 | | |||
| | collision_check_distance_from_end | [m] | double | collision check distance from end point. currently only for pull out | 15.0 | | |||
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| ## **Safe check with obstacles in shoulder lane** | |||
| ## **Safe check with obstacles** | |||
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| 1. Calculate ego-vehicle's footprint on pull out path between from current position to pull out end point. (Illustrated by blue frame) | |||
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It's suggestion for my implementing function though, but how about putting the title below?
with static obstacles
And how about adding the title below after explanation about safe check with static obstacles?
with dynamic obstacles
WIP
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thanks, nice! fixed in 9821b0a
Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## main #4019 +/- ##
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Coverage 14.43% 14.43%
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Files 1462 1462
Lines 102964 102964
Branches 29876 29876
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Hits 14866 14866
Misses 71865 71865
Partials 16233 16233
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
| @@ -2,7 +2,16 @@ | |||
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| ## Purpose / Role | |||
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| Pull out from the shoulder lane without colliding with objects. | |||
| Start Planner is designed for safe path generation from the current ego position to the driving lane and transition to lane following. This module is activated when a new route is received. | |||
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This description is my proposal but I get used not to accepted so please feel free to ignore 😭
The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and implementing safety checks against dynamic obstacles.
(Note: The feature of safety checks against dynamic obstacles is currently a work in progress.)
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used the proposal in 9821b0a
kyoichi-sugahara
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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* docs(start_planner): update start planner docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix from sugahara-san review Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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* docs(start_planner): update start planner docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix from sugahara-san review Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
update start planner docs
Related links
Tests performed
just add usecase of road_lane, will update contents related logic(pull out with acceleration) in other PR
Notes for reviewers
Interface changes
none
Effects on system behavior
none
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