feat: consider another way of inserting safe velocity #17
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| @@ -42,8 +42,7 @@ int insertSafeVelocityToPath( | |||
| SafeMotion calculateSafeMotion(const Velocity & v, const double ttc); | |||
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| double calculateInsertVelocity( | |||
| const double min_allowed_vel, const double safe_vel, const double min_vel, | |||
| const double original_vel); | |||
| const double min_allowed_vel, const double safe_vel, const double original_vel); | |||
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| } // namespace occlusion_spot_utils | |||
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nested namespaces can be concatenated
Suggested change
| } // namespace occlusion_spot_utils | |
| } |
| @@ -321,11 +321,22 @@ | |||
| */ | |||
| PossibleCollisionInfo pc; | |||
| const double ttc = std::abs(arc_coord_occlusion_with_offset.distance / param.pedestrian_vel); | |||
| SafeMotion sm = calculateSafeMotion(param.v, ttc); | |||
| double distance_to_stop = arc_coord_occlusion_with_offset.length - sm.stop_dist; | |||
| SafeMotion sm; | |||
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uninitialized record type: sm
Suggested change
| SafeMotion sm; | |
| SafeMotion sm{}; |
| // lower bound min = 0 | ||
| ASSERT_EQ(calculateInsertVelocity(inf, inf, 0, inf), inf); | ||
| } | ||
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| TEST(insertSafeVelocityToPath, replace_original_at_too_close_case) |
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class insertSafeVelocityToPath_replace_original_at_too_close_case_Test defines a copy constructor and a copy assignment operator but does not define a destructor, a move constructor or a move assignment operator
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
taikitanaka3
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Description
もともと速度計画に影響のない場所への停止点埋め込みはしないように検知エリアで限定していたが、この速度計画に影響のない値は以下を前提としており、うまく実現するのは難しい。そこでpass judgeというフラグを用いて速度計画に影響がある部分のみを検知エリアとするのか、そもそも経路から横距離何メートル以内の死角はすべて見るようにするのかのフラグの追加
もともとは急ブレーキを踏んで止まれる速度、止まれる距離を埋め込むこととしていたが、こちらは以下の理由により死角の位置にほぼ停止速度を埋め込み死角がなくなるまで減速を解除しないようにするかどうかのフラグを追加
その他
軽いrefactor
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