feat(motion_utils): add option to use slerp for orientation #1575

TomohitoAndo · 2022-08-12T09:06:19Z

Description

Added option to use spherical interpolation to calculate the orientation.

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codecov · 2022-08-12T10:10:55Z

Codecov Report

Merging #1575 (f7bf15a) into main (4296138) will increase coverage by 0.49%.
The diff coverage is 37.12%.

@@            Coverage Diff             @@
##             main    #1575      +/-   ##
==========================================
+ Coverage   10.73%   11.23%   +0.49%     
==========================================
  Files        1115     1115              
  Lines       78829    84421    +5592     
  Branches    18562    22065    +3503     
==========================================
+ Hits         8465     9484    +1019     
- Misses      61505    65227    +3722     
- Partials     8859     9710     +851

Flag	Coverage Δ		*Carryforward flag
differential	`10.98% <32.97%> (?)`
total	`10.72% <23.86%> (ø)`		Carriedforward from 4296138

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...tion_utils/test/src/trajectory/test_trajectory.cpp	`30.88% <35.65%> (+5.27%)`	⬆️
...ils/include/motion_utils/trajectory/trajectory.hpp	`82.14% <100.00%> (+4.03%)`	⬆️
...city_planner/include/utilization/arc_lane_util.hpp	`28.35% <0.00%> (-12.07%)`	⬇️
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	`8.33% <0.00%> (-0.33%)`	⬇️
planning/obstacle_stop_planner/src/node.cpp	`0.00% <0.00%> (ø)`
planning/obstacle_avoidance_planner/src/node.cpp	`0.00% <0.00%> (ø)`
...lanning/obstacle_stop_planner/src/debug_marker.cpp	`0.00% <0.00%> (ø)`
...nning/behavior_path_planner/src/path_utilities.cpp	`0.00% <0.00%> (ø)`
...ning/behavior_path_planner/src/debug_utilities.cpp	`0.00% <0.00%> (ø)`
.../behavior_path_planner/src/turn_signal_decider.cpp	`0.00% <0.00%> (ø)`
... and 57 more

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satoshi-ota · 2022-08-14T23:04:41Z

@TomohitoAndo Nice PR 👍
Could you write unit tests for use_slerp_for_orientation = true ?

TomohitoAndo · 2022-08-17T04:28:00Z

@satoshi-ota
Thanks!
Okay, I will write the unit test 👍

TomohitoAndo · 2022-08-18T10:19:24Z

@satoshi-ota
I added the tests. Could you check? 🙏
The result of colcon_test is here.

colcon test --packages-select motion_utils --event-handlers console_direct+
Starting >>> motion_utils
UpdateCTestConfiguration  from :/home/tomohitoando/workspace/autoware/build/motion_utils/CTestConfiguration.ini
Parse Config file:/home/tomohitoando/workspace/autoware/build/motion_utils/CTestConfiguration.ini
   Site: npc2103053
   Build name: (empty)
 Add coverage exclude regular expressions.
SetCTestConfiguration:CMakeCommand:/usr/bin/cmake
Create new tag: 20220818-1014 - Experimental
UpdateCTestConfiguration  from :/home/tomohitoando/workspace/autoware/build/motion_utils/CTestConfiguration.ini
Parse Config file:/home/tomohitoando/workspace/autoware/build/motion_utils/CTestConfiguration.ini
Test project /home/tomohitoando/workspace/autoware/build/motion_utils
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
    Start 1: test_motion_utils

1: Test command: /usr/bin/python3 "-u" "/opt/ros/galactic/share/ament_cmake_ros/cmake/run_test_isolated.py" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/test_motion_utils.gtest.xml" "--package-name" "motion_utils" "--output-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/ament_cmake_gtest/test_motion_utils.txt" "--command" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_motion_utils" "--gtest_output=xml:/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/test_motion_utils.gtest.xml"
1: Test timeout computed to be: 60
1: Running with ROS_DOMAIN_ID 1            
1: -- run_test.py: invoking following command in '/home/tomohitoando/workspace/autoware/build/motion_utils':
1:  - /home/tomohitoando/workspace/autoware/build/motion_utils/test_motion_utils --gtest_output=xml:/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/test_motion_utils.gtest.xml
1: [==========] Running 61 tests from 7 test suites.
1: [----------] Global test environment set-up.
1: [----------] 4 tests from resample_path_with_lane_id
1: [ RUN      ] resample_path_with_lane_id.resample_path_by_vector
1: [motion_utils]: input path size or input path length is wrong
1: [motion_utils]: input path size or input path length is wrong
1: [motion_utils]: resampled path length is longer than input path length
1: [       OK ] resample_path_with_lane_id.resample_path_by_vector (0 ms)
1: [ RUN      ] resample_path_with_lane_id.resample_path_by_vector_backward
1: [       OK ] resample_path_with_lane_id.resample_path_by_vector_backward (0 ms)
1: [ RUN      ] resample_path_with_lane_id.resample_path_by_vector_non_default
1: [       OK ] resample_path_with_lane_id.resample_path_by_vector_non_default (0 ms)
1: [ RUN      ] resample_path_with_lane_id.resample_path_by_same_interval
1: [motion_utils]: input trajectory size or resample interval is invalid
1: [motion_utils]: input trajectory size or resample interval is invalid
1: [motion_utils]: input trajectory size or resample interval is invalid
1: [       OK ] resample_path_with_lane_id.resample_path_by_same_interval (0 ms)
1: [----------] 4 tests from resample_path_with_lane_id (0 ms total)
1: 
1: [----------] 4 tests from resample_path
1: [ RUN      ] resample_path.resample_path_by_vector
1: [motion_utils]: input path size, input path length or resampled arclength is wrong
1: [motion_utils]: input path size, input path length or resampled arclength is wrong
1: [motion_utils]: input path size, input path length or resampled arclength is wrong
1: [       OK ] resample_path.resample_path_by_vector (0 ms)
1: [ RUN      ] resample_path.resample_path_by_vector_backward
1: [       OK ] resample_path.resample_path_by_vector_backward (0 ms)
1: [ RUN      ] resample_path.resample_path_by_vector_non_default
1: [       OK ] resample_path.resample_path_by_vector_non_default (0 ms)
1: [ RUN      ] resample_path.resample_trajectory_by_vector
1: [motion_utils]: input trajectory size, input trajectory length or resampled arclength is wrong
1: [motion_utils]: input trajectory size, input trajectory length or resampled arclength is wrong
1: [motion_utils]: input trajectory size, input trajectory length or resampled arclength is wrong
1: [       OK ] resample_path.resample_trajectory_by_vector (0 ms)
1: [----------] 4 tests from resample_path (0 ms total)
1: 
1: [----------] 2 tests from resample_trajectory
1: [ RUN      ] resample_trajectory.resample_trajectory_by_vector_non_default
1: [       OK ] resample_trajectory.resample_trajectory_by_vector_non_default (0 ms)
1: [ RUN      ] resample_trajectory.resample_trajectory_by_same_interval
1: [motion_utils]: input trajectory size, input_trajectory length or resample interval is invalid
1: [motion_utils]: input trajectory size, input_trajectory length or resample interval is invalid
1: [motion_utils]: input trajectory size, input_trajectory length or resample interval is invalid
1: [       OK ] resample_trajectory.resample_trajectory_by_same_interval (1 ms)
1: [----------] 2 tests from resample_trajectory (1 ms total)
1: 
1: [----------] 2 tests from path_with_lane_id
1: [ RUN      ] path_with_lane_id.getPathIndexRangeWithLaneId
1: [       OK ] path_with_lane_id.getPathIndexRangeWithLaneId (0 ms)
1: [ RUN      ] path_with_lane_id.findNearestIndexFromLaneId
1: [       OK ] path_with_lane_id.findNearestIndexFromLaneId (0 ms)
1: [----------] 2 tests from path_with_lane_id (0 ms total)
1: 
1: [----------] 46 tests from trajectory
1: [ RUN      ] trajectory.validateNonEmpty
1: [       OK ] trajectory.validateNonEmpty (0 ms)
1: [ RUN      ] trajectory.validateNonSharpAngle_DefaultThreshold
1: [       OK ] trajectory.validateNonSharpAngle_DefaultThreshold (0 ms)
1: [ RUN      ] trajectory.validateNonSharpAngle_SetThreshold
1: [       OK ] trajectory.validateNonSharpAngle_SetThreshold (0 ms)
1: [ RUN      ] trajectory.searchZeroVelocityIndex
1: Points is empty.
1: [       OK ] trajectory.searchZeroVelocityIndex (0 ms)
1: [ RUN      ] trajectory.findNearestIndex_Pos_StraightTrajectory
1: [       OK ] trajectory.findNearestIndex_Pos_StraightTrajectory (0 ms)
1: [ RUN      ] trajectory.findNearestIndex_Pos_CurvedTrajectory
1: [       OK ] trajectory.findNearestIndex_Pos_CurvedTrajectory (0 ms)
1: [ RUN      ] trajectory.findNearestIndex_Pose_NoThreshold
1: Points is empty.
1: [       OK ] trajectory.findNearestIndex_Pose_NoThreshold (0 ms)
1: [ RUN      ] trajectory.findNearestIndex_Pose_DistThreshold
1: [       OK ] trajectory.findNearestIndex_Pose_DistThreshold (0 ms)
1: [ RUN      ] trajectory.findNearestIndex_Pose_YawThreshold
1: [       OK ] trajectory.findNearestIndex_Pose_YawThreshold (0 ms)
1: [ RUN      ] trajectory.findNearestIndex_Pose_DistAndYawThreshold
1: [       OK ] trajectory.findNearestIndex_Pose_DistAndYawThreshold (0 ms)
1: [ RUN      ] trajectory.findNearestSegmentIndex
1: [       OK ] trajectory.findNearestSegmentIndex (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetToSegment_StraightTrajectory
1: [       OK ] trajectory.calcLongitudinalOffsetToSegment_StraightTrajectory (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetToSegment_CurveTrajectory
1: [       OK ] trajectory.calcLongitudinalOffsetToSegment_CurveTrajectory (0 ms)
1: [ RUN      ] trajectory.calcLateralOffset
1: [       OK ] trajectory.calcLateralOffset (0 ms)
1: [ RUN      ] trajectory.calcLateralOffset_CurveTrajectory
1: [       OK ] trajectory.calcLateralOffset_CurveTrajectory (0 ms)
1: [ RUN      ] trajectory.calcSignedArcLengthFromIndexToIndex
1: Points is empty.
1: [       OK ] trajectory.calcSignedArcLengthFromIndexToIndex (0 ms)
1: [ RUN      ] trajectory.calcSignedArcLengthFromPointToIndex
1: Points is empty.
1: [       OK ] trajectory.calcSignedArcLengthFromPointToIndex (0 ms)
1: [ RUN      ] trajectory.calcSignedArcLengthFromPoseToIndex_DistThreshold
1: [       OK ] trajectory.calcSignedArcLengthFromPoseToIndex_DistThreshold (0 ms)
1: [ RUN      ] trajectory.calcSignedArcLengthFromPoseToIndex_YawThreshold
1: [       OK ] trajectory.calcSignedArcLengthFromPoseToIndex_YawThreshold (0 ms)
1: [ RUN      ] trajectory.calcSignedArcLengthFromIndexToPoint
1: Points is empty.
1: [       OK ] trajectory.calcSignedArcLengthFromIndexToPoint (0 ms)
1: [ RUN      ] trajectory.calcSignedArcLengthFromPointToPoint
1: Points is empty.
1: [       OK ] trajectory.calcSignedArcLengthFromPointToPoint (0 ms)
1: [ RUN      ] trajectory.calcArcLength
1: Points is empty.
1: [       OK ] trajectory.calcArcLength (0 ms)
1: [ RUN      ] trajectory.convertToTrajectory
1: [       OK ] trajectory.convertToTrajectory (2 ms)
1: [ RUN      ] trajectory.convertToTrajectoryPointArray
1: [       OK ] trajectory.convertToTrajectoryPointArray (0 ms)
1: [ RUN      ] trajectory.calcDistanceToForwardStopPointFromIndex
1: Points is empty.
1: [       OK ] trajectory.calcDistanceToForwardStopPointFromIndex (0 ms)
1: [ RUN      ] trajectory.calcDistanceToForwardStopPointFromPose
1: Points is empty.
1: [       OK ] trajectory.calcDistanceToForwardStopPointFromPose (0 ms)
1: [ RUN      ] trajectory.calcDistanceToForwardStopPoint_DistThreshold
1: [       OK ] trajectory.calcDistanceToForwardStopPoint_DistThreshold (0 ms)
1: [ RUN      ] trajectory.calcDistanceToForwardStopPoint_YawThreshold
1: [       OK ] trajectory.calcDistanceToForwardStopPoint_YawThreshold (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPointFromIndex
1: Points is empty.
1: Invalid source index
1: Invalid source index
1: [       OK ] trajectory.calcLongitudinalOffsetPointFromIndex (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPointFromPoint
1: Points is empty.
1: Segment index is invalid.
1: [       OK ] trajectory.calcLongitudinalOffsetPointFromPoint (6 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPoseFromIndex
1: Points is empty.
1: Invalid source index
1: Invalid source index
1: [       OK ] trajectory.calcLongitudinalOffsetPoseFromIndex (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPoseFromIndex_quatInterpolation
1: [       OK ] trajectory.calcLongitudinalOffsetPoseFromIndex_quatInterpolation (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation
1: [       OK ] trajectory.calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPoseFromPoint
1: Points is empty.
1: Segment index is invalid.
1: [       OK ] trajectory.calcLongitudinalOffsetPoseFromPoint (6 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPoseFromPoint_quatInterpolation
1: [       OK ] trajectory.calcLongitudinalOffsetPoseFromPoint_quatInterpolation (0 ms)
1: [ RUN      ] trajectory.calcLongitudinalOffsetPoseFromPoint_quatSphericalInterpolation
1: [       OK ] trajectory.calcLongitudinalOffsetPoseFromPoint_quatSphericalInterpolation (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint
1: Points is empty.
1: [       OK ] trajectory.insertTargetPoint (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint_Reverse
1: [       OK ] trajectory.insertTargetPoint_Reverse (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint_OverlapThreshold
1: [       OK ] trajectory.insertTargetPoint_OverlapThreshold (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint_Length
1: [       OK ] trajectory.insertTargetPoint_Length (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint_Length_Without_Target_Point
1: [       OK ] trajectory.insertTargetPoint_Length_Without_Target_Point (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint_Length_Without_Target_Point_Non_Zero_Start_Idx
1: [       OK ] trajectory.insertTargetPoint_Length_Without_Target_Point_Non_Zero_Start_Idx (0 ms)
1: [ RUN      ] trajectory.insertTargetPoint_Length_from_a_pose
1: [       OK ] trajectory.insertTargetPoint_Length_from_a_pose (0 ms)
1: [ RUN      ] trajectory.insertStopPoint_from_a_source_index
1: [       OK ] trajectory.insertStopPoint_from_a_source_index (0 ms)
1: [ RUN      ] trajectory.insertStopPoint_from_a_pose
1: [       OK ] trajectory.insertStopPoint_from_a_pose (1 ms)
1: [ RUN      ] trajectory.findFirstNearestIndexWithSoftConstraints
1: [       OK ] trajectory.findFirstNearestIndexWithSoftConstraints (0 ms)
1: [----------] 46 tests from trajectory (16 ms total)
1: 
1: [----------] 1 test from vehicle_stop_checker
1: [ RUN      ] vehicle_stop_checker.isVehicleStopped
1: [       OK ] vehicle_stop_checker.isVehicleStopped (2558 ms)
1: [----------] 1 test from vehicle_stop_checker (2558 ms total)
1: 
1: [----------] 2 tests from vehicle_arrival_checker
1: [ RUN      ] vehicle_arrival_checker.isVehicleStopped
1: [       OK ] vehicle_arrival_checker.isVehicleStopped (2541 ms)
1: [ RUN      ] vehicle_arrival_checker.isVehicleStoppedAtStopPoint
1: [       OK ] vehicle_arrival_checker.isVehicleStoppedAtStopPoint (1531 ms)
1: [----------] 2 tests from vehicle_arrival_checker (4073 ms total)
1: 
1: [----------] Global test environment tear-down
1: [==========] 61 tests from 7 test suites ran. (6648 ms total)
1: [  PASSED  ] 61 tests.
1: -- run_test.py: return code 0
1: -- run_test.py: inject classname prefix into gtest result file '/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/test_motion_utils.gtest.xml'
1: -- run_test.py: verify result file '/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/test_motion_utils.gtest.xml'
1/5 Test #1: test_motion_utils ................   Passed    6.75 sec
test 2
    Start 2: copyright

2: Test command: /usr/bin/python3 "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/copyright.xunit.xml" "--package-name" "motion_utils" "--output-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/ament_copyright/copyright.txt" "--command" "/opt/ros/galactic/bin/ament_copyright" "--xunit-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/copyright.xunit.xml"
2: Test timeout computed to be: 120
2: -- run_test.py: invoking following command in '/home/tomohitoando/workspace/autoware/src/universe/autoware.universe/common/motion_utils':
2:  - /opt/ros/galactic/bin/ament_copyright --xunit-file /home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/copyright.xunit.xml
2: No problems found, checked 17 files     
2: -- run_test.py: return code 0           
2: -- run_test.py: verify result file '/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/copyright.xunit.xml'
2/5 Test #2: copyright ........................   Passed    2.43 sec
test 3
    Start 3: cppcheck

3: Test command: /usr/bin/python3 "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/cppcheck.xunit.xml" "--package-name" "motion_utils" "--output-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/ament_cppcheck/cppcheck.txt" "--command" "/opt/ros/galactic/bin/ament_cppcheck" "--xunit-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/cppcheck.xunit.xml" "--include_dirs" "/home/tomohitoando/workspace/autoware/src/universe/autoware.universe/common/motion_utils/include"
3: Test timeout computed to be: 300
3: -- run_test.py: invoking following command in '/home/tomohitoando/workspace/autoware/src/universe/autoware.universe/common/motion_utils':
3:  - /opt/ros/galactic/bin/ament_cppcheck --xunit-file /home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/cppcheck.xunit.xml --include_dirs /home/tomohitoando/workspace/autoware/src/universe/autoware.universe/common/motion_utils/include
3: No problems found                        
3: -- run_test.py: return code 0             
3: -- run_test.py: verify result file '/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/cppcheck.xunit.xml'
3/5 Test #3: cppcheck .........................   Passed    0.70 sec
test 4
    Start 4: lint_cmake

4: Test command: /usr/bin/python3 "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/lint_cmake.xunit.xml" "--package-name" "motion_utils" "--output-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/galactic/bin/ament_lint_cmake" "--xunit-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/lint_cmake.xunit.xml"
4: Test timeout computed to be: 60
4: -- run_test.py: invoking following command in '/home/tomohitoando/workspace/autoware/src/universe/autoware.universe/common/motion_utils':
4:  - /opt/ros/galactic/bin/ament_lint_cmake --xunit-file /home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/lint_cmake.xunit.xml
4:                                           
4: No problems found
4: -- run_test.py: return code 0
4: -- run_test.py: verify result file '/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/lint_cmake.xunit.xml'
4/5 Test #4: lint_cmake .......................   Passed    0.35 sec
test 5
    Start 5: xmllint

5: Test command: /usr/bin/python3 "-u" "/opt/ros/galactic/share/ament_cmake_test/cmake/run_test.py" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/xmllint.xunit.xml" "--package-name" "motion_utils" "--output-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/ament_xmllint/xmllint.txt" "--command" "/opt/ros/galactic/bin/ament_xmllint" "--xunit-file" "/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/xmllint.xunit.xml"
5: Test timeout computed to be: 60
5: -- run_test.py: invoking following command in '/home/tomohitoando/workspace/autoware/src/universe/autoware.universe/common/motion_utils':
5:  - /opt/ros/galactic/bin/ament_xmllint --xunit-file /home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/xmllint.xunit.xml
5: File 'package.xml' is valid               
5: 
5: No problems found
5: -- run_test.py: return code 0
5: -- run_test.py: verify result file '/home/tomohitoando/workspace/autoware/build/motion_utils/test_results/motion_utils/xmllint.xunit.xml'
5/5 Test #5: xmllint ..........................   Passed    1.52 sec

100% tests passed, 0 tests failed out of 5

Label Time Summary:
copyright     =   2.43 sec*proc (1 test)
cppcheck      =   0.70 sec*proc (1 test)
gtest         =   6.75 sec*proc (1 test)
lint_cmake    =   0.35 sec*proc (1 test)
linter        =   5.01 sec*proc (4 tests)
xmllint       =   1.52 sec*proc (1 test)

Total Test time (real) =  11.77 sec
Finished <<< motion_utils [11.9s]            

Summary: 1 package finished [12.5s]

common/motion_utils/include/motion_utils/trajectory/trajectory.hpp

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

…lation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo · 2022-08-19T09:55:01Z

force pushed to fix DCO.

satoshi-ota

LGTM 👍

* feat(motion_utils): add option to use slerp for orientation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: add tests for calcLongitudinalOffsetPose with spherical interpolation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: modify ratio to be more consitent Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: use common flag name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

…foundation#1575) * feat(motion_utils): add option to use slerp for orientation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: add tests for calcLongitudinalOffsetPose with spherical interpolation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: modify ratio to be more consitent Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: use common flag name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* feat(motion_utils): add option to use slerp for orientation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: add tests for calcLongitudinalOffsetPose with spherical interpolation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: modify ratio to be more consitent Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: use common flag name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

…foundation#1575) * feat(motion_utils): add option to use slerp for orientation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: add tests for calcLongitudinalOffsetPose with spherical interpolation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * test: modify ratio to be more consitent Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * chore: use common flag name Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo requested a review from satoshi-ota August 12, 2022 09:07

satoshi-ota reviewed Aug 19, 2022

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common/motion_utils/include/motion_utils/trajectory/trajectory.hpp Outdated Show resolved Hide resolved

TomohitoAndo added 4 commits August 19, 2022 18:52

feat(motion_utils): add option to use slerp for orientation

24c8f6d

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

test: add tests for calcLongitudinalOffsetPose with spherical interpo…

cb2fc82

…lation Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

test: modify ratio to be more consitent

f4935a2

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

chore: use common flag name

f7bf15a

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

TomohitoAndo force-pushed the feat/slerp-orientation branch from e550199 to f7bf15a Compare August 19, 2022 09:54

satoshi-ota self-requested a review August 21, 2022 23:13

satoshi-ota approved these changes Aug 21, 2022

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TomohitoAndo merged commit 31d9c65 into autowarefoundation:main Aug 22, 2022

TomohitoAndo deleted the feat/slerp-orientation branch August 22, 2022 06:08

tier4-autoware-public-bot bot mentioned this pull request Aug 23, 2022

chore: sync upstream tier4/autoware.universe#91

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feat(motion_utils): add option to use slerp for orientation #1575

feat(motion_utils): add option to use slerp for orientation #1575

TomohitoAndo commented Aug 12, 2022 •

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feat(motion_utils): add option to use slerp for orientation #1575

feat(motion_utils): add option to use slerp for orientation #1575

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TomohitoAndo commented Aug 12, 2022 •

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