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refactor(motion_velocity_smoother): remove duplicated implementation #2798

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Feb 3, 2023
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refactor(motion_velocity_smoother): remove duplicated implementation #2798

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4 changes: 4 additions & 0 deletions ...tion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,10 @@ class MotionVelocitySmootherNode : public rclcpp::Node
Trajectory toTrajectoryMsg(
const TrajectoryPoints & points, const std_msgs::msg::Header * header = nullptr) const;

TrajectoryPoint calcProjectedTrajectoryPoint(
const TrajectoryPoints & trajectory, const Pose & pose) const;
TrajectoryPoint calcProjectedTrajectoryPointFromEgo(const TrajectoryPoints & trajectory) const;

// parameter handling
void initCommonParam();

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47 changes: 20 additions & 27 deletions planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
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Expand Up @@ -399,12 +399,7 @@ void MotionVelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstShar

// calculate prev closest point
if (!prev_output_.empty()) {
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
prev_output_, current_odometry_ptr_->pose.pose, node_param_.ego_nearest_dist_threshold,
node_param_.ego_nearest_yaw_threshold);
const auto closest_point = trajectory_utils::calcInterpolatedTrajectoryPoint(
prev_output_, current_odometry_ptr_->pose.pose, current_seg_idx);
current_closest_point_from_prev_output_ = closest_point;
current_closest_point_from_prev_output_ = calcProjectedTrajectoryPointFromEgo(prev_output_);
}

// calculate distance to insert external velocity limit
Expand Down Expand Up @@ -884,11 +879,7 @@ void MotionVelocitySmootherNode::publishClosestVelocity(
const TrajectoryPoints & trajectory, const Pose & current_pose,
const rclcpp::Publisher<Float32Stamped>::SharedPtr pub) const
{
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
trajectory, current_pose, node_param_.ego_nearest_dist_threshold,
node_param_.ego_nearest_yaw_threshold);
const auto closest_point =
trajectory_utils::calcInterpolatedTrajectoryPoint(trajectory, current_pose, current_seg_idx);
const auto closest_point = calcProjectedTrajectoryPoint(trajectory, current_pose);

Float32Stamped vel_data{};
vel_data.stamp = this->now();
Expand All @@ -898,11 +889,7 @@ void MotionVelocitySmootherNode::publishClosestVelocity(

void MotionVelocitySmootherNode::publishClosestState(const TrajectoryPoints & trajectory)
{
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
trajectory, current_odometry_ptr_->pose.pose, node_param_.ego_nearest_dist_threshold,
node_param_.ego_nearest_yaw_threshold);
const auto closest_point = trajectory_utils::calcInterpolatedTrajectoryPoint(
trajectory, current_odometry_ptr_->pose.pose, current_seg_idx);
const auto closest_point = calcProjectedTrajectoryPointFromEgo(trajectory);

auto publishFloat = [=](const double data, const auto pub) {
Float32Stamped msg{};
Expand Down Expand Up @@ -938,12 +925,7 @@ void MotionVelocitySmootherNode::publishClosestState(const TrajectoryPoints & tr
void MotionVelocitySmootherNode::updatePrevValues(const TrajectoryPoints & final_result)
{
prev_output_ = final_result;
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
final_result, current_odometry_ptr_->pose.pose, node_param_.ego_nearest_dist_threshold,
node_param_.ego_nearest_yaw_threshold);
const auto closest_point = trajectory_utils::calcInterpolatedTrajectoryPoint(
final_result, current_odometry_ptr_->pose.pose, current_seg_idx);
prev_closest_point_ = closest_point;
prev_closest_point_ = calcProjectedTrajectoryPointFromEgo(final_result);
}

MotionVelocitySmootherNode::AlgorithmType MotionVelocitySmootherNode::getAlgorithmType(
Expand All @@ -968,11 +950,7 @@ MotionVelocitySmootherNode::AlgorithmType MotionVelocitySmootherNode::getAlgorit

double MotionVelocitySmootherNode::calcTravelDistance() const
{
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
prev_output_, current_odometry_ptr_->pose.pose, node_param_.ego_nearest_dist_threshold,
node_param_.ego_nearest_yaw_threshold);
const auto closest_point = trajectory_utils::calcInterpolatedTrajectoryPoint(
prev_output_, current_odometry_ptr_->pose.pose, current_seg_idx);
const auto closest_point = calcProjectedTrajectoryPointFromEgo(prev_output_);

if (prev_closest_point_) {
const double travel_dist =
Expand Down Expand Up @@ -1027,6 +1005,21 @@ void MotionVelocitySmootherNode::publishStopWatchTime()
debug_calculation_time_->publish(calculation_time_data);
}

TrajectoryPoint MotionVelocitySmootherNode::calcProjectedTrajectoryPoint(
const TrajectoryPoints & trajectory, const Pose & pose) const
{
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
trajectory, pose, node_param_.ego_nearest_dist_threshold,
node_param_.ego_nearest_yaw_threshold);
return trajectory_utils::calcInterpolatedTrajectoryPoint(trajectory, pose, current_seg_idx);
}

TrajectoryPoint MotionVelocitySmootherNode::calcProjectedTrajectoryPointFromEgo(
const TrajectoryPoints & trajectory) const
{
return calcProjectedTrajectoryPoint(trajectory, current_odometry_ptr_->pose.pose);
}

} // namespace motion_velocity_smoother

#include "rclcpp_components/register_node_macro.hpp"
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