feat(obstacle_avoidance_planner): make MPT's output not std::optional #4370
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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@kosuke55 Could you approve the PR. |
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4370 +/- ##
=======================================
Coverage 15.05% 15.05%
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Files 1508 1508
Lines 103794 103802 +8
Branches 31715 31720 +5
=======================================
+ Hits 15626 15628 +2
- Misses 71137 71144 +7
+ Partials 17031 17030 -1
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…autowarefoundation#4370) * feat(obstacle_avoidance_planner): make MPT's output not std::optional Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * minor change Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
In order to easily use optimization path planner in packages other than obstacle_avoidance_planner, this PR makes the output of MPT's output not std::optional by holding the previous optimized result not in the node itself but in the MPT class.
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Effects on system behavior
Nothing
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