fix(avoidance): don't use polygon centroid in shiftable ratio calculation #6285
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…tion Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6285 +/- ##
==========================================
- Coverage 14.91% 14.36% -0.55%
==========================================
Files 1817 1907 +90
Lines 125357 130141 +4784
Branches 37640 37643 +3
==========================================
Hits 18697 18697
- Misses 85651 90435 +4784
Partials 21009 21009
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…tion (autowarefoundation#6285) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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fix(avoidance): don't use polygon centroid in shiftable ratio calculation (autowarefoundation#6285)
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…tion (autowarefoundation#6285) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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Description
Fix bug. In previous implementaion, the module calculated the shift ratioby using envelope polygon centroid for each objects. But it should use original object's position in that logic.
Tests performed
Effects on system behavior
Improve avoidance maneuver.
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