fix(freespace_planner): fix is near target check #9327
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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
mkquda
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kosuke55,
TakaHoribe and
takayuki5168
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Nov 15, 2024
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Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #9327 +/- ##
==========================================
- Coverage 29.65% 29.65% -0.01%
==========================================
Files 1338 1339 +1
Lines 103204 103226 +22
Branches 40216 40218 +2
==========================================
+ Hits 30609 30610 +1
- Misses 69639 69660 +21
Partials 2956 2956
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Description
is_near_targetfunction only considers longitudinal deviation which can cause wrong behavior in some cases like below.Instead it should consider the entire pose deviation including lateral and orientation as well to give the correct behavior as shown below.
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Interface changes
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Effects on system behavior
None.