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fix(behavior_path_planner): shift pull over path distortion with resampling #1969

Merged
merged 4 commits into from
Sep 28, 2022
Merged

fix(behavior_path_planner): shift pull over path distortion with resampling #1969

merged 4 commits into from
Sep 28, 2022

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kosuke55
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@kosuke55 kosuke55 commented Sep 28, 2022 •
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Description

shift pull over path distorted with resampling of end of behavior_path_planner processing.
This may caused by the path interval difference between straight path and shifted path of shift_pull_over.

  • straight path: not resampled
  • shift_pull_over: resampled

These two paths are combined and resampling it might cause the path distortion
So, in this PR straight path is also resampled.

Related links

Tests performed

psim

  • before

Screenshot from 2022-09-28 10-43-18

turn_signal-2022-09-27_17.51.45.mp4
  • after

Screenshot from 2022-09-28 10-41-48

2022-09-28-11-35-26.mp4

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@kosuke55
fix(behavior_path_planner): shift pull over path distortion with resa…
0539f37 
…mpling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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codecov bot commented Sep 28, 2022 •
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Codecov Report

Base: 10.28% // Head: 10.27% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (0c4a203) compared to base (8e86f0e).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #1969      +/-   ##
==========================================
- Coverage   10.28%   10.27%   -0.01%     
==========================================
  Files        1158     1158              
  Lines       82150    82160      +10     
  Branches    19120    19128       +8     
==========================================
  Hits         8446     8446              
- Misses      64563    64571       +8     
- Partials     9141     9143       +2
Flag Coverage Δ *Carryforward flag
differential 1.25% <0.00%> (?)
total 10.26% <0.00%> (ø) Carriedforward from 8e86f0e

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

Impacted Files Coverage Δ
...ner/src/scene_module/pull_over/shift_pull_over.cpp 0.00% <0.00%> (ø)

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@kosuke55
fix from review
8261dfb 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55 and others added 2 commits September 28, 2022 13:13
@kosuke55
fix typo
3dccdd0 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@purewater0901
Merge branch 'main' into fix/shift_pull_over_distortion
0c4a203
purewater0901
purewater0901 approved these changes Sep 28, 2022
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LGTM

@kosuke55 kosuke55 merged commit 30e968e into autowarefoundation:main Sep 28, 2022
@kosuke55 kosuke55 deleted the fix/shift_pull_over_distortion branch September 28, 2022 05:41
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Sep 29, 2022
Merged
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Sep 29, 2022
@kosuke55 @purewater0901 @kminoda
fix(behavior_path_planner): shift pull over path distortion with resa…
fa6b1f4 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Oct 3, 2022
@kosuke55 @purewater0901 @boyali
fix(behavior_path_planner): shift pull over path distortion with resa…
8aaf256 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Oct 3, 2022
@kosuke55 @purewater0901 @boyali
fix(behavior_path_planner): shift pull over path distortion with resa…
1affa8b 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
1222-takeshi pushed a commit to tier4/autoware.universe that referenced this pull request Oct 18, 2022
@kosuke55 @purewater0901 @1222-takeshi
fix(behavior_path_planner): shift pull over path distortion with resa…
bfd3eb7 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
@1222-takeshi 1222-takeshi mentioned this pull request Oct 18, 2022
Closed
4 tasks
1222-takeshi pushed a commit to tier4/autoware.universe that referenced this pull request Oct 18, 2022
@kosuke55 @purewater0901 @1222-takeshi
fix(behavior_path_planner): shift pull over path distortion with resa…
5f766fd 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
boyali pushed a commit to boyali/autoware.universe that referenced this pull request Oct 19, 2022
@kosuke55 @purewater0901 @boyali
fix(behavior_path_planner): shift pull over path distortion with resa…
f8525bf 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Oct 27, 2022
@kosuke55 @purewater0901
fix(behavior_path_planner): shift pull over path distortion with resa…
c8fecde 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Nov 10, 2022
@kosuke55 @purewater0901
fix(behavior_path_planner): shift pull over path distortion with resa…
b056f67 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
kosuke55 added a commit to tier4/autoware.universe that referenced this pull request Nov 30, 2022
@kosuke55 @purewater0901
fix(behavior_path_planner): shift pull over path distortion with resa…
572df40 
…mpling (autowarefoundation#1969)

* fix(behavior_path_planner): shift pull over path distortion with resampling

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix from review

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix typo

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com>
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Reviewers

@purewater0901 purewater0901 purewater0901 approved these changes

@rej55 rej55 Awaiting requested review from rej55

@satoshi-ota satoshi-ota Awaiting requested review from satoshi-ota

@shmpwk shmpwk Awaiting requested review from shmpwk

@taikitanaka3 taikitanaka3 Awaiting requested review from taikitanaka3

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@kosuke55 @purewater0901