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fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb #2357

Merged
merged 4 commits into from
Nov 29, 2022
Merged

fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb #2357

merged 4 commits into from
Nov 29, 2022

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takayuki5168
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@takayuki5168 takayuki5168 commented Nov 24, 2022 •
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Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

TIER IV internal link
https://tier4.atlassian.net/browse/T4PB-23427

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@takayuki5168
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
c5ca15d 
…rajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Nov 24, 2022
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codecov bot commented Nov 24, 2022 •
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Codecov Report

Base: 10.48% // Head: 10.47% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (9d6b1fd) compared to base (88d537d).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #2357      +/-   ##
==========================================
- Coverage   10.48%   10.47%   -0.01%     
==========================================
  Files        1248     1256       +8     
  Lines       91255    91750     +495     
  Branches    21014    20790     -224     
==========================================
+ Hits         9565     9611      +46     
- Misses      71503    71981     +478     
+ Partials    10187    10158      -29
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 10.53% <0.00%> (+0.07%) ⬆️ Carriedforward from e4499e7

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

Impacted Files Coverage Δ
...lude/obstacle_avoidance_planner/common_structs.hpp 0.00% <ø> (ø)
...stacle_avoidance_planner/src/eb_path_optimizer.cpp 0.00% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/node.cpp 0.00% <0.00%> (ø)
...n/motion_utils/test/src/resample/test_resample.cpp 25.87% <0.00%> (-0.04%) ⬇️
planning/route_handler/src/route_handler.cpp 0.00% <0.00%> (ø)
sensing/imu_corrector/src/imu_corrector_core.cpp 0.00% <0.00%> (ø)
planning/static_centerline_optimizer/src/utils.cpp 0.00% <0.00%> (ø)
...rol/operation_mode_transition_manager/src/node.cpp 0.00% <0.00%> (ø)
.../pointcloud_preprocessor/src/utility/utilities.cpp 0.00% <0.00%> (ø)
... and 94 more

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@takayuki5168
add flag to enable clipping fixed trajectory
bed61c2 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@github-actions github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Nov 28, 2022
@takayuki5168 takayuki5168 marked this pull request as ready for review November 28, 2022 04:46
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@kosuke55 Now this is ready for review. I just added a flag to enable this function.

@takayuki5168 takayuki5168 mentioned this pull request Nov 28, 2022
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kosuke55
kosuke55 reviewed Nov 28, 2022
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planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp
Comment on lines +151 to +152
const auto interpolated_points_end_seg_idx = motion_utils::findNearestSegmentIndex(
interpolated_poses, path.points.back().pose, 3.0, 0.785);
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Is it ok to use this function?
this findNearestSegmentIndex with threshould will be replaced with your function for overlapping?

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For ego nearest search, we can assume that the nearest point should be the first nearest one since the path length before the ego pose is short enough.
Other than that, we cannot assume that the nearest search should be the first nearest one.

Therefore, in this case, it's okay not to use findfistNearestIndex

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ok, understood thanks!

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works fine! thanks very much!

@takayuki5168
add maintainer
9d6b1fd 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168 takayuki5168 merged commit c744794 into autowarefoundation:main Nov 29, 2022
@takayuki5168 takayuki5168 deleted the fix/obstacle-avoidance-eb-fixed-traj-length branch November 29, 2022 07:58
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Nov 30, 2022
Merged
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Nov 30, 2022
@takayuki5168 @kosuke55
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
7bb0613 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Nov 30, 2022
@takayuki5168 @kosuke55
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
c1ab79e 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Nov 30, 2022
@takayuki5168 @kosuke55
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
438e0ff 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Nov 30, 2022
@takayuki5168 @kosuke55
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
1cedb11 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
kosuke55 pushed a commit to tier4/autoware.universe that referenced this pull request Dec 1, 2022
@takayuki5168 @kosuke55
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
3ee0f59 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
HansRobo pushed a commit to HansRobo/autoware.universe that referenced this pull request Dec 16, 2022
@takayuki5168 @HansRobo
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
fd36d58 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Jan 6, 2023
@takayuki5168 @kminoda
fix(obstacle_avoidance_planner): apply dynamic path length to fixed t…
3b22021 
…rajectory in eb (autowarefoundation#2357)

* fix(obstacle_avoidance_planner): apply dynamic path length to fixed trajectory in eb

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add flag to enable clipping fixed trajectory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* add maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
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