Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(behavior_path_planner): drivable area with static obstacles #2880

Merged
merged 7 commits into from
Feb 22, 2023
Merged

fix(behavior_path_planner): drivable area with static obstacles #2880

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
2f26880
drivable area with static obstacles
takayuki5168 Feb 13, 2023
85e9758
fix
takayuki5168 Feb 13, 2023
a9b6874
fix
takayuki5168 Feb 14, 2023
7695928
fix
takayuki5168 Feb 14, 2023
4e51ff9
fix build error
takayuki5168 Feb 16, 2023
331542c
fix
takayuki5168 Feb 22, 2023
732a8d7
fix
takayuki5168 Feb 22, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
33 changes: 18 additions & 15 deletions ...ior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,25 @@ using behavior_path_planner::PlannerData;
struct PolygonPoint
{
geometry_msgs::msg::Point point;
size_t bound_seg_idx;
double lon_dist_to_segment;
double lat_dist_to_bound;
double lon_dist;

bool is_after(const PolygonPoint & other_point) const
{
if (bound_seg_idx == other_point.bound_seg_idx) {
return other_point.lon_dist_to_segment < lon_dist_to_segment;
}
return other_point.bound_seg_idx < bound_seg_idx;
}

bool is_outside_bounds(const bool is_on_right) const
{
if (is_on_right) {
return lat_dist_to_bound < 0.0;
}
return 0.0 < lat_dist_to_bound;
};
};

zulfaqar-azmi-t4 marked this conversation as resolved.
Show resolved Hide resolved
bool isOnRight(const ObjectData & obj);
Expand Down Expand Up @@ -82,20 +99,6 @@ std::vector<std::string> getUuidStr(const ObjectDataArray & objs);
Polygon2d createEnvelopePolygon(
const ObjectData & object_data, const Pose & closest_pose, const double envelope_buffer);

void getEdgePoints(
const Polygon2d & object_polygon, const double threshold, std::vector<Point> & edge_points);

void getPointData(
const std::vector<Point> & bound, const std::vector<Point> & edge_points,
const double lat_dist_to_path, std::vector<PolygonPoint> & edge_points_data);

void sortPolygonPoints(
const std::vector<PolygonPoint> & points, std::vector<PolygonPoint> & sorted_points);

std::vector<Point> updateBoundary(
const std::vector<Point> & original_bound, const std::vector<Point> & edge_points,
const std::vector<PolygonPoint> & sorted_points);

void generateDrivableArea(
PathWithLaneId & path, const std::vector<DrivableLanes> & lanes, const double vehicle_length,
const std::shared_ptr<const PlannerData> planner_data, const ObjectDataArray & objects,
Expand Down
Loading