fix(stop_line): z position of stop point #2239
Conversation
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
TomohitoAndo
requested review from
kosuke55,
kyoichi-sugahara,
mkuri,
soblin,
satoshi-ota,
shmpwk,
taikitanaka3,
tkimura4 and
purewater0901
as code owners
Codecov ReportBase: 11.16% // Head: 11.15% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2239 +/- ##
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- Coverage 11.16% 11.15% -0.01%
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Files 1200 1200
Lines 86184 86205 +21
Branches 20787 20805 +18
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Hits 9620 9620
- Misses 66439 66459 +20
- Partials 10125 10126 +1
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@takayuki5168 |
| @@ -64,7 +64,6 @@ bool StopLineModule::modifyPathVelocity( | |||
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| const auto stop_point_idx = stop_point->first; | |||
| auto stop_pose = stop_point->second; | |||
| stop_pose.position.z = (stop_line_[0].z() + stop_line_[1].z()) / 2.0; | |||
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There was a problem hiding this comment.
When committing this line, I just followed the original implementation before my PR.
Currently, z position is interpolated from the path. So it makes sense to remove this line.
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@purewater0901 |
fix: z position of stop point Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
fix: z position of stop point Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: Tomohito Ando tomohito.ando@tier4.jp
Description
Currently z position of stop line is used as the z position of inserted point, but it causes z position error.
(e.g. when there is a stop line in a slope.)
That resulted in strange pitch due to the high elevation angle.
z position of stop point is calculated here, so I think this calculation is not needed.
before this change:
I visualized the output path poses from stop_line module.
after this change:
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