fix(static_obstacle_avoidance): avoid object behind unavoidance object if unavoidable is not on the path #8066
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…t if unavoidable is not on the path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…t if unavoidable is not on the path (autowarefoundation#8066) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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…t if unavoidable is not on the path (autowarefoundation#8066) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…t if unavoidable is not on the path (autowarefoundation#8066) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: chtseng <chtseng@itri.org.tw>
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…t if unavoidable is not on the path (autowarefoundation#8066) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…t if unavoidable is not on the path (autowarefoundation#8066) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Description
Now if front object is NOT avoidable as following fig, this module doesn't generate avoidance path even when behind object is avoidable. I think if the front object blocks ego path, it's proper behavior. But if the ego can go through, this module must generate avoidance path for behind object.
After this PR, this module will output avoidance path for behind object if front object is NOT on the path.
If front object is on ego path, this module won't generate avoidance path.
Additionally, if the front object is RIGHT and behind object is LEFT, this module won't generate avoidance path because the avoidance path for behind object might conflict front object, and vice versa.
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How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.