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feat(behavior_path_planner): add goal planner
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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42 changes: 42 additions & 0 deletions
42
...path_planner/include/behavior_path_planner/utils/pull_over/default_fixed_goal_planner.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__DEFAULT_FIXED_GOAL_PLANNER_HPP_ | ||
| #define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__DEFAULT_FIXED_GOAL_PLANNER_HPP_ | ||
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| #include "behavior_path_planner/utils/pull_over/fixed_goal_planner_base.hpp" | ||
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| #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp> | ||
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| #include <memory> | ||
| #include <vector> | ||
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| namespace behavior_path_planner | ||
| { | ||
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| class DefaultFixedGoalPlanner : public FixedGoalPlannerBase | ||
| { | ||
| public: | ||
| DefaultFixedGoalPlanner() = default; | ||
| BehaviorModuleOutput plan(const std::shared_ptr<const PlannerData> & planner_data) const override; | ||
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| protected: | ||
| BehaviorModuleOutput getReferencePath( | ||
| const std::shared_ptr<const PlannerData> & planner_data) const; | ||
| PathWithLaneId modifyPathForSmoothGoalConnection( | ||
| const PathWithLaneId & path, const std::shared_ptr<const PlannerData> & planner_data) const; | ||
| }; | ||
| } // namespace behavior_path_planner | ||
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| #endif // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__DEFAULT_FIXED_GOAL_PLANNER_HPP_ |
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...or_path_planner/include/behavior_path_planner/utils/pull_over/fixed_goal_planner_base.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__FIXED_GOAL_PLANNER_BASE_HPP_ | ||
| #define BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__FIXED_GOAL_PLANNER_BASE_HPP_ | ||
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| #include "behavior_path_planner/data_manager.hpp" | ||
| #include "behavior_path_planner/parameters.hpp" | ||
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| #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp> | ||
| #include <geometry_msgs/msg/pose_stamped.hpp> | ||
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| #include <memory> | ||
| #include <vector> | ||
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| using autoware_auto_planning_msgs::msg::PathWithLaneId; | ||
| using geometry_msgs::msg::Pose; | ||
| using tier4_autoware_utils::LinearRing2d; | ||
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| namespace behavior_path_planner | ||
| { | ||
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| class FixedGoalPlannerBase | ||
| { | ||
| public: | ||
| FixedGoalPlannerBase() = default; | ||
| virtual ~FixedGoalPlannerBase() = default; | ||
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| virtual BehaviorModuleOutput plan( | ||
| const std::shared_ptr<const PlannerData> & planner_data) const = 0; | ||
| }; | ||
| } // namespace behavior_path_planner | ||
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| #endif // BEHAVIOR_PATH_PLANNER__UTILS__PULL_OVER__FIXED_GOAL_PLANNER_BASE_HPP_ |
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83 changes: 83 additions & 0 deletions
83
planning/behavior_path_planner/src/utils/pull_over/default_fixed_goal_planner.cpp
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| @@ -0,0 +1,83 @@ | ||
| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "behavior_path_planner/utils/pull_over/default_fixed_goal_planner.hpp" | ||
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| #include "behavior_path_planner/utils/path_utils.hpp" | ||
| #include "behavior_path_planner/utils/pull_over/util.hpp" | ||
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| #include <lanelet2_extension/utility/query.hpp> | ||
| #include <lanelet2_extension/utility/utilities.hpp> | ||
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| #include <memory> | ||
| #include <vector> | ||
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| namespace behavior_path_planner | ||
| { | ||
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| // DefaultFixedGoalPlanner::DefaultFixedGoalPlanner(){} | ||
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| BehaviorModuleOutput DefaultFixedGoalPlanner::plan( | ||
| const std::shared_ptr<const PlannerData> & planner_data) const | ||
| { | ||
| BehaviorModuleOutput output = getReferencePath(planner_data); | ||
| const PathWithLaneId smoothed_path = | ||
| modifyPathForSmoothGoalConnection(*(output.path), planner_data); | ||
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| output.path = std::make_shared<PathWithLaneId>(smoothed_path); | ||
| output.reference_path = std::make_shared<PathWithLaneId>(smoothed_path); | ||
| return output; | ||
| } | ||
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| BehaviorModuleOutput DefaultFixedGoalPlanner::getReferencePath( | ||
| const std::shared_ptr<const PlannerData> & planner_data) const | ||
| { | ||
| const auto & route_handler = planner_data->route_handler; | ||
| const auto current_pose = planner_data->self_odometry->pose.pose; | ||
| const double dist_threshold = planner_data->parameters.ego_nearest_dist_threshold; | ||
| const double yaw_threshold = planner_data->parameters.ego_nearest_yaw_threshold; | ||
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| lanelet::ConstLanelet current_lane{}; | ||
| if (!route_handler->getClosestLaneletWithConstrainsWithinRoute( | ||
| current_pose, ¤t_lane, dist_threshold, yaw_threshold)) { | ||
| return {}; // TODO(Horibe) | ||
| } | ||
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| return utils::getReferencePath(current_lane, planner_data); | ||
| } | ||
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| PathWithLaneId DefaultFixedGoalPlanner::modifyPathForSmoothGoalConnection( | ||
| const PathWithLaneId & path, const std::shared_ptr<const PlannerData> & planner_data) const | ||
| { | ||
| const auto goal = planner_data->route_handler->getGoalPose(); | ||
| const auto goal_lane_id = planner_data->route_handler->getGoalLaneId(); | ||
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| Pose refined_goal{}; | ||
| { | ||
| lanelet::ConstLanelet goal_lanelet; | ||
| if (planner_data->route_handler->getGoalLanelet(&goal_lanelet)) { | ||
| refined_goal = utils::refineGoal(goal, goal_lanelet); | ||
| } else { | ||
| refined_goal = goal; | ||
| } | ||
| } | ||
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| auto refined_path = utils::refinePathForGoal( | ||
| planner_data->parameters.refine_goal_search_radius_range, M_PI * 0.5, path, refined_goal, | ||
| goal_lane_id); | ||
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| return refined_path; | ||
| } | ||
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| } // namespace behavior_path_planner |