feat(start_planner): apply offset colission check section #5982
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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| PredictedObjects StartPlannerModule::filterStopObjectsInShoulderLanes( | ||
| const lanelet::ConstLanelets & shoulder_lanes, const geometry_msgs::msg::Point & current_point, | ||
| const double velocity_threshold, const double object_check_forward_distance, | ||
| const double object_check_backward_distance) const |
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pull out lanes will be road lanes not just shoulder lanes.
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so, better to change function and args name
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changed in 365b4f9
| return motion_utils::findNearestIndex( | ||
| combined_path.points, collision_check_end_pose->position); | ||
| } else { | ||
| return combined_path.points.size() - 1; |
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Suggested change
| return combined_path.points.size() - 1; | |
| return 0; |
is reasonable?
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changed in 6839191
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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…module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5982 +/- ##
==========================================
- Coverage 15.24% 15.24% -0.01%
==========================================
Files 1750 1750
Lines 120675 120681 +6
Branches 36715 36715
==========================================
Hits 18394 18394
- Misses 81640 81646 +6
Partials 20641 20641
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…undation#5982) refactor collision check in GeometricPullOut::plan() Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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…undation#5982) refactor collision check in GeometricPullOut::plan() Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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…undation#5982) refactor collision check in GeometricPullOut::plan() Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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…undation#5982) refactor collision check in GeometricPullOut::plan() Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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Description
this PR should be merged first
offset the collision check section based on shift end pose.
collision check against static objects are executed in the collision check section.
ignore section's lenght is controlled by parameter of
collision_check_distance_from_endTests performed
Effects on system behavior
Not applicable.
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