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fix(motion_velocity_smoother): add current_closest_point_from_prev_output #2399

Merged
merged 2 commits into from
Nov 29, 2022
Merged

fix(motion_velocity_smoother): add current_closest_point_from_prev_output #2399

merged 2 commits into from
Nov 29, 2022

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mkuri
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@mkuri mkuri commented Nov 29, 2022 •
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Signed-off-by: Makoto Kurihara mkuri8m@gmail.com

Description

Fixed incorrect calculation of traveling distance due to the following PR.
#2283

current_closest_point_from_prev_output is needed to calculate the initial value, and conventional prev_closest_point is needed to calculate the traveling distance.

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@mkuri
fix(motion_velocity_smoother): add current_closest_point_from_prev_ou…
62a03f7 
…tput

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
@mkuri mkuri requested review from rej55 and a team as code owners November 29, 2022 07:18
@mkuri mkuri requested a review from takayuki5168 November 29, 2022 07:18
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Nov 29, 2022
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codecov bot commented Nov 29, 2022 •
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Codecov Report

Base: 10.47% // Head: 10.38% // Decreases project coverage by -0.08% ⚠️

Coverage data is based on head (1e39701) compared to base (89b0687).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #2399      +/-   ##
==========================================
- Coverage   10.47%   10.38%   -0.09%     
==========================================
  Files        1248     1248              
  Lines       91318    92132     +814     
  Branches    21035    21653     +618     
==========================================
+ Hits         9561     9565       +4     
- Misses      71570    72338     +768     
- Partials    10187    10229      +42
Flag Coverage Δ *Carryforward flag
differential 3.57% <0.00%> (?)
total 10.46% <0.00%> (+0.01%) ⬆️ Carriedforward from 62a03f7

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

Impacted Files Coverage Δ
...elocity_smoother/motion_velocity_smoother_node.hpp 0.00% <ø> (ø)
...ity_smoother/src/motion_velocity_smoother_node.cpp 0.00% <0.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp 37.11% <0.00%> (-1.04%) ⬇️
planning/obstacle_stop_planner/src/node.cpp 0.00% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/node.cpp 0.00% <0.00%> (ø)
sensing/imu_corrector/src/imu_corrector_core.cpp 0.00% <0.00%> (ø)
...stacle_avoidance_planner/src/eb_path_optimizer.cpp 0.00% <0.00%> (ø)
...elocity_planner/src/scene_module/run_out/scene.cpp 0.00% <0.00%> (ø)
...ocity_planner/src/scene_module/stop_line/scene.cpp 0.00% <0.00%> (ø)
... and 18 more

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takayuki5168
takayuki5168 approved these changes Nov 29, 2022
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LGTM

rej55
rej55 approved these changes Nov 29, 2022
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LGTM

@rej55 rej55 enabled auto-merge (squash) November 29, 2022 13:24
@rej55 rej55 merged commit f10fe48 into autowarefoundation:main Nov 29, 2022
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Nov 30, 2022
Merged
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Dec 1, 2022
@mkuri @TomohitoAndo
fix(motion_velocity_smoother): add current_closest_point_from_prev_ou…
565e774 
…tput (autowarefoundation#2399)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
@TomohitoAndo TomohitoAndo mentioned this pull request Dec 1, 2022
Merged
4 tasks
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request Dec 2, 2022
@mkuri @TomohitoAndo
fix(motion_velocity_smoother): add current_closest_point_from_prev_ou…
3deb7a7 
…tput (autowarefoundation#2399)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
HansRobo pushed a commit to HansRobo/autoware.universe that referenced this pull request Dec 16, 2022
@mkuri @HansRobo
fix(motion_velocity_smoother): add current_closest_point_from_prev_ou…
2fbd6d0 
…tput (autowarefoundation#2399)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@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
@mkuri @kminoda
fix(motion_velocity_smoother): add current_closest_point_from_prev_ou…
35337cf 
…tput (autowarefoundation#2399)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
brkay54 pushed a commit to vautonomous/autoware.universe that referenced this pull request Jan 28, 2023
@mkuri @brkay54
fix(motion_velocity_smoother): add current_closest_point_from_prev_ou…
159f90a 
…tput (autowarefoundation#2399)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
voltonomous added a commit to vautonomous/autoware.universe that referenced this pull request Jan 28, 2023
@voltonomous
feat(motion_velocity_smoother): change osqp parameter (autowarefounda…
f853102 
…tion#2157)

Signed-off-by: yutaka <purewater0901@gmail.com>

Signed-off-by: yutaka <purewater0901@gmail.com>
chore: remove motion_common dependency (autowarefoundation#2231)

* remove motion_common from smoother

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

* remove motion_common from control_performance_analysis and simple_planning_simualtor

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

* fix include

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

* add include

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

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
refactor(motion_velocity_smoother): remove unused optional (autowarefoundation#1906)

* remove unused optional

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* pre-commit

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
add tunable deccel limit before curve


fix(motion_velocity_smoother): mismatch of v0/a0 between optimization and external velocity limit (autowarefoundation#2283)

* fix(motion_velocity_smoother): inconsistent v0/a0 between optimization and external velocity limit

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

* remove debug print

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

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
fix(motion_velocity_smoother): fix taking long time to start in "l2_smoother" (autowarefoundation#2289)

fix-l2-smoother

Signed-off-by: jack.song <jack.song@autocore.ai>

Signed-off-by: jack.song <jack.song@autocore.ai>
chore(motion_velocity_smoother): add debug print for non-supported function (autowarefoundation#2298)

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

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
fix(motion_velocity_smoother): add current_closest_point_from_prev_output (autowarefoundation#2399)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
increase distance before curve


update delay compansation
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@rej55 rej55 rej55 approved these changes

@takayuki5168 takayuki5168 takayuki5168 approved these changes

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