feat(interpolation): add curvature calculation

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

updated interpolation package for the refactoring PR of obstacle_avoidance_planner #2796

feat: Curvature calculation is added with a unit test.

• for point
  

  autoware.universe/common/interpolation/src/spline_interpolation_points_2d.cpp

  Lines 172 to 190 in b2715d0

  	double SplineInterpolationPoints2d::getSplineInterpolatedCurvature(
  	const size_t idx, const double s) const
  	{
  	if (base_s_vec_.size() <= idx) {
  	throw std::out_of_range("idx is out of range.");
  	}
  	const double whole_s =
  	std::clamp(base_s_vec_.at(idx) + s, base_s_vec_.front(), base_s_vec_.back());
  	const double diff_x = spline_x_.getSplineInterpolatedDiffValues({whole_s}).at(0);
  	const double diff_y = spline_y_.getSplineInterpolatedDiffValues({whole_s}).at(0);
  	const double quad_diff_x = spline_x_.getSplineInterpolatedQuadDiffValues({whole_s}).at(0);
  	const double quad_diff_y = spline_y_.getSplineInterpolatedQuadDiffValues({whole_s}).at(0);
  	return std::abs(diff_x * quad_diff_y - quad_diff_x * diff_y) /
  	std::pow(std::pow(diff_x, 2) + std::pow(diff_y, 2), 1.5);
  	}

• for points
  

  autoware.universe/common/interpolation/src/spline_interpolation_points_2d.cpp

  Lines 192 to 200 in b2715d0

  	std::vector<double> SplineInterpolationPoints2d::getSplineInterpolatedCurvatures() const
  	{
  	std::vector<double> curvature_vec;
  	for (size_t i = 0; i < spline_x_.getSize(); ++i) {
  	const double curvature = getSplineInterpolatedCurvature(i, 0.0);
  	curvature_vec.push_back(curvature);
  	}
  	return curvature_vec;
  	}

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[takayuki5168]

@rej55 @kosuke55 Could you approve the PR. I confirmed that the unit test for curvature calculation has passed.

[rej55]

LGTM

[codecov]

Codecov Report

Base: 12.40% // Head: 11.82% // Decreases project coverage by -0.59% ⚠️

Coverage data is based on head (0eb1fed) compared to base (231f70c).
Patch coverage: 28.48% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2801      +/-   ##
==========================================
- Coverage   12.40%   11.82%   -0.59%     
==========================================
  Files        1217     1318     +101     
  Lines       86070    92214    +6144     
  Branches    24382    24680     +298     
==========================================
+ Hits        10677    10903     +226     
- Misses      64242    70030    +5788     
- Partials    11151    11281     +130     

Flag	Coverage Δ		*Carryforward flag
differential	12.85% <23.44%> (?)
total	11.63% <54.54%> (-0.78%)	⬇️	Carriedforward from 00338f4

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...terpolation/test/src/test_spline_interpolation.cpp	38.75% <0.00%> (+10.38%)	⬆️
...n/test/src/test_spline_interpolation_points_2d.cpp	19.35% <19.35%> (ø)
...terpolation/src/spline_interpolation_points_2d.cpp	45.00% <35.41%> (-0.72%)	⬇️
...ion/include/interpolation/spline_interpolation.hpp	41.66% <50.00%> (+13.09%)	⬆️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	44.13% <50.00%> (+0.58%)	⬆️
common/interpolation/src/spline_interpolation.cpp	64.10% <66.66%> (+6.95%)	⬆️
...e/interpolation/spline_interpolation_points_2d.hpp	88.88% <100.00%> (+5.55%)	⬆️
...freespace_planning_algorithms/src/astar_search.cpp	70.96% <0.00%> (ø)
...ude/freespace_planning_algorithms/astar_search.hpp	87.50% <0.00%> (ø)
..._vendor/_deps/tensorrt-src/samples/common/common.h	0.00% <0.00%> (ø)
... and 110 more

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