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feat(behavior_path_planner): support backward path drivable area #4301

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merged 1 commit into from
Jul 17, 2023
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feat(behavior_path_planner): support backward path drivable area #4301

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12 changes: 7 additions & 5 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,17 +144,18 @@ void PlannerManager::generateCombinedDrivableArea(
const auto & di = output.drivable_area_info;
constexpr double epsilon = 1e-3;

const auto is_driving_forward_opt = motion_utils::isDrivingForward(output.path->points);
const bool is_driving_forward = is_driving_forward_opt ? *is_driving_forward_opt : true;

if (epsilon < std::abs(di.drivable_margin)) {
// for single free space pull over
const auto is_driving_forward_opt = motion_utils::isDrivingForward(output.path->points);
const bool is_driving_forward = is_driving_forward_opt ? *is_driving_forward_opt : true;

utils::generateDrivableArea(
*output.path, data->parameters.vehicle_length, di.drivable_margin, is_driving_forward);
} else if (di.is_already_expanded) {
// for single side shift
utils::generateDrivableArea(
*output.path, di.drivable_lanes, false, false, data->parameters.vehicle_length, data);
*output.path, di.drivable_lanes, false, false, data->parameters.vehicle_length, data,
is_driving_forward);
} else {
const auto shorten_lanes = utils::cutOverlappedLanes(*output.path, di.drivable_lanes);

Expand All @@ -166,7 +167,8 @@ void PlannerManager::generateCombinedDrivableArea(
// for other modules where multiple modules may be launched
utils::generateDrivableArea(
*output.path, expanded_lanes, di.enable_expanding_hatched_road_markings,
di.enable_expanding_intersection_areas, data->parameters.vehicle_length, data);
di.enable_expanding_intersection_areas, data->parameters.vehicle_length, data,
is_driving_forward);
}

// extract obstacles from drivable area
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