docs(behavior_path_planner): update documentation of the dynamic drivablea area expansion #5661
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #5661 +/- ##
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- Coverage 15.32% 9.35% -5.98%
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Files 1721 87 -1634
Lines 118559 11154 -107405
Branches 37995 4584 -33411
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- Hits 18169 1043 -17126
+ Misses 79657 8274 -71383
+ Partials 20733 1837 -18896
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| ##### 1 Calculate and smooth the path curvature | ||
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| To avoid sudden changes of the expanded drivable area, we first try to reuse as much of the previous path and its calculated curvatures as possible. |
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Is the expanded drivable area here refers to static or dynamic?
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I made it more clear that it was for the dynamic expansion (fd11526).
planning/behavior_path_planner/docs/behavior_path_planner_drivable_area_design.md
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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…ablea area expansion (autowarefoundation#5661) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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…ablea area expansion (autowarefoundation#5661) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
The dynamic drivable area expansion was recently changed to a curvature based implementation (#5294). This PR updates the documentation to fit the new implementation.
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Effects on system behavior
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