fix(simple psim): gear bug to update state in simple psim

[takayuki5168]

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

Related Issue(required)

#371

Description(required)

Apply gear to current pose update (previously, only velocity and acceleration was updated)

Review Procedure(required)

run simple psim

Related PR(optional)

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[codecov]

Codecov Report

Merging #370 (f758750) into tier4/proposal (59f0f77) will decrease coverage by 9.29%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #370      +/-   ##
=================================================
- Coverage            9.29%   0.00%   -9.30%     
=================================================
  Files                 700      16     -684     
  Lines               48932     616   -48316     
  Branches             5817       0    -5817     
=================================================
- Hits                 4549       0    -4549     
+ Misses              40572     616   -39956     
+ Partials             3811       0    -3811     

Impacted Files	Coverage Δ
...vehicle_model/sim_model_delay_steer_acc_geared.hpp	0.00% <ø> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.hpp	0.00% <ø> (ø)
...vehicle_model/sim_model_delay_steer_acc_geared.cpp	0.00% <0.00%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	0.00% <0.00%> (ø)
...on/tier4_planning_rviz_plugin/src/path/display.cpp
map/lanelet2_extension/lib/detection_area.cpp
...mon/autoware_auto_common/test/test_angle_utils.cpp
...ehavior_path_planner/src/behavior_tree_manager.cpp
... and 680 more

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[tkimura4]

Could you fix ideal_steer_acc_geared too?

[takayuki5168]

@tkimura4 Thanks for the comment. As you may know, Kataoka-san seems to create another PR for ideal one.

[takayuki5168]

Could you fix ideal_steer_acc_geared too?

@tkimura4 I did, and confirmed it works well.

[TakaHoribe]

@takayuki5168 I think a should be (v - v_prev) / dt only when v=0 is addressed.

[TakaHoribe]

The current update for gear state is like this:

if (gear == DRIVE) {
  if (v < 0) {
    v = 0;
    x = x_prev;
    y = y_prev;
    yaw = yaw_prev;
   }
}

a = (v - v_prev) / dt;  // update acceleration anytime.

But, I suggest taking this way to update the acceleration:

if (gear == DRIVE) {
  if (v < 0) {
    v = 0;
    x = x_prev;
    y = y_prev;
    yaw = yaw_prev;
    a = (v - v_prev) / dt;  // updated only when it is in the condition
   }
}

// do not update the acceleration when the above condition does not meet

which can be addressed in another PR.