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fix(lanelet2_extension): fix getAngleDifference #264

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merged 10 commits into from
Jan 20, 2022
Merged

fix(lanelet2_extension): fix getAngleDifference #264

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027c4cf
chore(query): update and add gtest
taikitanaka3 Jan 18, 2022
61e05c4
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 18, 2022
3b56ce7
chore(query): add deprecated attribute to getAngleDifference
taikitanaka3 Jan 18, 2022
28cc95d
chore(query): deprecated as comment to avoid clang errror
taikitanaka3 Jan 18, 2022
6a5065a
Revert "chore(query): deprecated as comment to avoid clang errror"
taikitanaka3 Jan 20, 2022
b60d782
Revert "chore(query): add deprecated attribute to getAngleDifference"
taikitanaka3 Jan 20, 2022
0083dc4
Revert "ci(pre-commit): autofix"
taikitanaka3 Jan 20, 2022
05ad1f2
Revert "chore(query): update and add gtest"
taikitanaka3 Jan 20, 2022
c6eb11e
fix(lanelet2_extension): fix getAngleDifference
taikitanaka3 Jan 20, 2022
9f65fde
fix(lanelet2_extension): ref value
taikitanaka3 Jan 20, 2022
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13 changes: 1 addition & 12 deletions map/lanelet2_extension/lib/query.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,17 +34,6 @@
#include <vector>

using lanelet::utils::to2D;
namespace
{
double getAngleDifference(const double angle1, const double angle2)
{
const double normalized_angle1 = tier4_autoware_utils::normalizeRadian(angle1);
const double normalized_angle2 = tier4_autoware_utils::normalizeRadian(angle2);
const double diff_angle = std::fabs(normalized_angle1 - normalized_angle2);
return diff_angle;
}

} // namespace

namespace lanelet
{
Expand Down Expand Up @@ -727,7 +716,7 @@ bool query::getClosestLanelet(
lanelet::ConstLineString3d segment = getClosestSegment(search_point, llt.centerline());
double segment_angle = std::atan2(
segment.back().y() - segment.front().y(), segment.back().x() - segment.front().x());
double angle_diff = getAngleDifference(segment_angle, pose_yaw);
double angle_diff = std::abs(tier4_autoware_utils::normalizeRadian(segment_angle - pose_yaw));
if (angle_diff < min_angle) {
min_angle = angle_diff;
*closest_lanelet_ptr = llt;
Expand Down