chore(behavior_velocity): fix spell check

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
autowarefoundation · Mar 15, 2022 · aea0b3d · aea0b3d
1 parent 355f37a
commit aea0b3d
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Showing 4 changed files with 8 additions and 4 deletions.
diff --git a/...ng/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp b/...ng/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp
@@ -78,7 +78,7 @@ namespace occlusion_spot_utils
 {
 enum ROAD_TYPE { PRIVATE, PUBLIC, HIGHWAY, UNKNOWN };
 enum DETECTION_METHOD { OCCUPANCY_GRID, PREDICTED_OBJECT };
-enum PASS_JUDGE { SMOOTH_VELOCITY, CURRENT_VELCITY };
+enum PASS_JUDGE { SMOOTH_VELOCITY, CURRENT_VELOCITY };
 
 struct DetectionArea
 {

diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/manager.cpp
@@ -53,7 +53,7 @@ OcclusionSpotModuleManager::OcclusionSpotModuleManager(rclcpp::Node & node)
   {
     const std::string pass_judge = node.declare_parameter(ns + ".pass_judge", "current_velocity");
     if (pass_judge == "current_velocity") {
-      pp.pass_judge = PASS_JUDGE::CURRENT_VELCITY;
+      pp.pass_judge = PASS_JUDGE::CURRENT_VELOCITY;
     } else {
       throw std::invalid_argument{
         "[behavior_velocity]: occlusion spot pass judge method has invalid argument"};

diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
@@ -78,7 +78,7 @@ bool OcclusionSpotModule::modifyPathVelocity(
   //! never change this interpolation interval(will affect module accuracy)
   splineInterpolate(clipped_path, 1.0, &interp_path, logger_);
   debug_data_.interp_path = interp_path;
-  if (param_.pass_judge == utils::PASS_JUDGE::CURRENT_VELCITY) {
+  if (param_.pass_judge == utils::PASS_JUDGE::CURRENT_VELOCITY) {
     interp_path = utils::applyVelocityToPath(interp_path, param_.v.v_ego);
   } else if (param_.pass_judge == utils::PASS_JUDGE::SMOOTH_VELOCITY) {
   }

diff --git a/..._velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_public_road.cpp b/..._velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_public_road.cpp
@@ -17,6 +17,7 @@
 #include <scene_module/occlusion_spot/risk_predictive_braking.hpp>
 #include <scene_module/occlusion_spot/scene_occlusion_spot_in_public_road.hpp>
 #include <utilization/path_utilization.hpp>
+#include <utilization/trajectory_utils.hpp>
 #include <utilization/util.hpp>
 
 #include <lanelet2_core/primitives/BasicRegulatoryElements.h>
@@ -73,9 +74,12 @@ bool OcclusionSpotInPublicModule::modifyPathVelocity(
   utils::clipPathByLength(*path, clipped_path, param_.detection_area_length);
   PathWithLaneId interp_path;
   splineInterpolate(clipped_path, 1.0, &interp_path, logger_);
-  if (param_.pass_judge == utils::PASS_JUDGE::CURRENT_VELCITY) {
+  if (param_.pass_judge == utils::PASS_JUDGE::CURRENT_VELOCITY) {
     interp_path = utils::applyVelocityToPath(interp_path, param_.v.v_ego);
   } else if (param_.pass_judge == utils::PASS_JUDGE::SMOOTH_VELOCITY) {
+    if (!smoothPath(interp_path, interp_path, planner_data_)) {
+      // use max velocity in path if optimization failure
+    }
   }
   const geometry_msgs::msg::Point start_point = interp_path.points.at(0).point.pose.position;
   const auto offset = tier4_autoware_utils::calcSignedArcLength(