feat(start_planner): separate collision check and path planning #5952
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5952 +/- ##
=======================================
Coverage 15.23% 15.23%
=======================================
Files 1750 1750
Lines 120710 120708 -2
Branches 36740 36740
=======================================
+ Hits 18394 18395 +1
+ Misses 81674 81671 -3
Partials 20642 20642
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
kosuke55
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Dec 27, 2023
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| const auto [pull_out_lane_objects, others] = | ||
| utils::path_safety_checker::separateObjectsByLanelets( | ||
| *dynamic_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); | ||
| const auto pull_out_lane_stop_objects = utils::path_safety_checker::filterObjectsByVelocity( | ||
| pull_out_lane_objects, parameters_->th_moving_object_velocity); |
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doning filterObjectsByVelocity first may be faster
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agree! thanks!
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changed in e5717ad
Comment on lines
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| // lambda function for combining partial_paths | ||
| const auto combine_partial_path = [pull_out_lanes](const auto & path) { | ||
| PathWithLaneId combined_path; | ||
| for (const auto & partial_path : path.partial_paths) { | ||
| combined_path.points.insert( | ||
| combined_path.points.end(), partial_path.points.begin(), partial_path.points.end()); | ||
| } | ||
| // remove the point behind of shift end pose | ||
| const auto shift_end_pose_idx = | ||
| motion_utils::findNearestIndex(combined_path.points, path.end_pose); | ||
| combined_path.points.erase( | ||
| combined_path.points.begin() + *shift_end_pose_idx + 1, combined_path.points.end()); | ||
| return combined_path; | ||
| }; |
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define in PullOutPath is also good
kosuke55
reviewed
Dec 27, 2023
|
|
||
| // If no next path is found, return false | ||
| if (!next_pull_out_path) return false; | ||
| updateStatusWithNextPath(*pull_out_path, start_pose_candidate, planner->getPlannerType()); |
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next_pull_out_path is not used?
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next_pull_out_path for avoiding replan of backward path after backward driving.
But replan after backward driving doesn't happen, so remove next_pull_out_path
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kosuke55
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Dec 28, 2023
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May 26, 2024
…warefoundation#5952) * remove collision check from pull out planner * change order of extract stop objects function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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May 28, 2024
…warefoundation#5952) * remove collision check from pull out planner * change order of extract stop objects function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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May 28, 2024
…warefoundation#5952) * remove collision check from pull out planner * change order of extract stop objects function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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…warefoundation#5952) * remove collision check from pull out planner * change order of extract stop objects function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Description
separate collision check feature from path planning function
Tests performed
Effects on system behavior
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