divide_pull_out_path

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Jan 17, 2023 · 18ce9af · 18ce9af
1 parent b4d95d6
commit 18ce9af
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/planning/behavior_path_planner/config/pull_out/pull_out.param.yaml b/planning/behavior_path_planner/config/pull_out/pull_out.param.yaml
@@ -16,7 +16,7 @@
       deceleration_interval: 15.0
       # geometric pull out
       enable_geometric_pull_out: true
-      enable_combined_path: true
+      divide_pull_out_path: false
       geometric_pull_out_velocity: 1.0
       arc_path_interval: 1.0
       lane_departure_margin: 0.2

diff --git a/..._path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_parameters.hpp b/..._path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_parameters.hpp
@@ -38,7 +38,7 @@ struct PullOutParameters
   double deceleration_interval;
   // geometric pull out
   bool enable_geometric_pull_out;
-  bool enable_combined_path;
+  bool divide_pull_out_path;
   double geometric_pull_out_velocity;
   double arc_path_interval;
   double lane_departure_margin;

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -643,7 +643,7 @@ PullOutParameters BehaviorPathPlannerNode::getPullOutParam()
   p.deceleration_interval = dp("deceleration_interval", 10.0);
   // geometric pull out
   p.enable_geometric_pull_out = dp("enable_geometric_pull_out", true);
-  p.enable_combined_path = dp("enable_combined_path", true);
+  p.divide_pull_out_path = dp("divide_pull_out_path", false);
   p.geometric_pull_out_velocity = dp("geometric_pull_out_velocity", 1.0);
   p.arc_path_interval = dp("arc_path_interval", 1.0);
   p.lane_departure_margin = dp("lane_departure_margin", 0.2);

diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp
@@ -59,16 +59,16 @@ boost::optional<PullOutPath> GeometricPullOut::plan(Pose start_pose, Pose goal_p
     return {};
   }
 
-  if (parameters_.enable_combined_path) {
+  if (parameters_.divide_pull_out_path) {
+    output.partial_paths = planner_.getPaths();
+  } else {
     const auto partial_paths = planner_.getPaths();
     auto combined_path = combineReferencePath(partial_paths.at(0), partial_paths.at(1));
     // set same velocity to all points not to stop
     for (auto & point : combined_path.points) {
       point.point.longitudinal_velocity_mps = parameters_.geometric_pull_out_velocity;
     }
     output.partial_paths.push_back(combined_path);
-  } else {
-    output.partial_paths = planner_.getPaths();
   }
   output.start_pose = planner_.getArcPaths().at(0).points.back().point.pose;
   output.end_pose = planner_.getArcPaths().at(1).points.back().point.pose;