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refactor(obstacle_stop_planner): remove unnecessary variables and functions, improve code performance #3560

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May 11, 2023
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refactor(obstacle_stop_planner): remove unnecessary variables and functions, improve code performance #3560

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6 changes: 0 additions & 6 deletions planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_data.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,12 +258,6 @@ struct PlannerData

autoware_auto_perception_msgs::msg::Shape slow_down_object_shape{};

Pose nearest_collision_point_pose{};

Pose nearest_slow_down_point_pose{};

Pose lateral_nearest_slow_down_point_pose{};

rclcpp::Time nearest_collision_point_time{};

double lateral_deviation{0.0};
Expand Down
2 changes: 0 additions & 2 deletions planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_utils.hpp
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Expand Up @@ -96,8 +96,6 @@ void createOneStepPolygon(
const Pose & base_step_pose, const Pose & next_step_pose, Polygon2d & hull_polygon,
const VehicleInfo & vehicle_info, const double expand_width = 0.0);

bool getSelfPose(const Header & header, const tf2_ros::Buffer & tf_buffer, Pose & self_pose);

void getNearestPoint(
const PointCloud & pointcloud, const Pose & base_pose, pcl::PointXYZ * nearest_collision_point,
rclcpp::Time * nearest_collision_point_time);
Expand Down
2 changes: 1 addition & 1 deletion planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
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Expand Up @@ -341,7 +341,7 @@ void AdaptiveCruiseController::calcDistanceToNearestPointOnPath(
const rclcpp::Time & nearest_collision_point_time, double * distance,
const std_msgs::msg::Header & trajectory_header)
{
if (trajectory.size() == 0) {
if (trajectory.empty()) {
RCLCPP_DEBUG_THROTTLE(
node_->get_logger(), *node_->get_clock(), std::chrono::milliseconds(1000).count(),
"input path is too short(size=0)");
Expand Down
38 changes: 9 additions & 29 deletions planning/obstacle_stop_planner/src/node.cpp
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Expand Up @@ -14,7 +14,6 @@

#include <algorithm>
#include <limits>
#include <map>
#include <memory>
#include <string>
#include <utility>
Expand Down Expand Up @@ -382,7 +381,6 @@ void ObstacleStopPlannerNode::searchObstacle(
PlannerData & planner_data, const Header & trajectory_header, const VehicleInfo & vehicle_info,
const StopParam & stop_param, const PointCloud2::SharedPtr obstacle_ros_pointcloud_ptr)
{
const auto object_ptr = object_ptr_;
// search candidate obstacle pointcloud
PointCloud::Ptr slow_down_pointcloud_ptr(new PointCloud);
PointCloud::Ptr obstacle_candidate_pointcloud_ptr(new PointCloud);
Expand Down Expand Up @@ -485,22 +483,6 @@ void ObstacleStopPlannerNode::searchObstacle(
*collision_pointcloud_ptr, p_front, &nearest_collision_point,
&nearest_collision_point_time);

if (node_param_.enable_z_axis_obstacle_filtering) {
debug_ptr_->pushPolyhedron(
one_step_move_vehicle_polygon, z_axis_min, z_axis_max, PolygonType::Collision);
if (
(pub_collision_pointcloud_debug_->get_subscription_count() +
pub_collision_pointcloud_debug_->get_intra_process_subscription_count()) > 0) {
auto obstacle_ros_pointcloud_debug_ptr = std::make_shared<PointCloud2>();
pcl::toROSMsg(*collision_pointcloud_ptr, *obstacle_ros_pointcloud_debug_ptr);
obstacle_ros_pointcloud_debug_ptr->header.frame_id = trajectory_header.frame_id;
pub_collision_pointcloud_debug_->publish(*obstacle_ros_pointcloud_debug_ptr);
}
} else {
debug_ptr_->pushObstaclePoint(planner_data.nearest_collision_point, PointType::Stop);
debug_ptr_->pushPolygon(
one_step_move_vehicle_polygon, p_front.position.z, PolygonType::Collision);
}
obstacle_history_.emplace_back(now, nearest_collision_point);

break;
Expand All @@ -509,6 +491,12 @@ void ObstacleStopPlannerNode::searchObstacle(
}

for (size_t i = 0; i < decimate_trajectory.size() - 1; ++i) {
const auto old_point_cloud_ptr = getOldPointCloudPtr();
if (old_point_cloud_ptr->empty()) {
// no need to check collision
break;
}

// create one step circle center for vehicle
const auto & p_front = decimate_trajectory.at(i).pose;
const auto & p_back = decimate_trajectory.at(i + 1).pose;
Expand All @@ -525,26 +513,18 @@ void ObstacleStopPlannerNode::searchObstacle(
createOneStepPolygon(
p_front, p_back, one_step_move_vehicle_polygon, vehicle_info, stop_param.lateral_margin);

if (node_param_.enable_z_axis_obstacle_filtering) {
debug_ptr_->pushPolyhedron(
one_step_move_vehicle_polygon, z_axis_min, z_axis_max, PolygonType::Vehicle);
} else {
debug_ptr_->pushPolygon(
one_step_move_vehicle_polygon, p_front.position.z, PolygonType::Vehicle);
}

PointCloud::Ptr collision_pointcloud_ptr(new PointCloud);
collision_pointcloud_ptr->header = obstacle_candidate_pointcloud_ptr->header;

// check new collision points
if (node_param_.enable_z_axis_obstacle_filtering) {
planner_data.found_collision_points = withinPolyhedron(
one_step_move_vehicle_polygon, stop_param.stop_search_radius, prev_center_point,
next_center_point, getOldPointCloudPtr(), collision_pointcloud_ptr, z_axis_min, z_axis_max);
next_center_point, old_point_cloud_ptr, collision_pointcloud_ptr, z_axis_min, z_axis_max);
} else {
planner_data.found_collision_points = withinPolygon(
one_step_move_vehicle_polygon, stop_param.stop_search_radius, prev_center_point,
next_center_point, getOldPointCloudPtr(), collision_pointcloud_ptr);
next_center_point, old_point_cloud_ptr, collision_pointcloud_ptr);
}

if (planner_data.found_collision_points) {
Expand Down Expand Up @@ -574,6 +554,7 @@ void ObstacleStopPlannerNode::searchObstacle(

mutex_.lock();
const auto current_odometry_ptr = current_odometry_ptr_;
const auto object_ptr = object_ptr_;
mutex_.unlock();

acc_controller_->insertAdaptiveCruiseVelocity(
Expand All @@ -585,7 +566,6 @@ void ObstacleStopPlannerNode::searchObstacle(
if (!planner_data.stop_require) {
obstacle_history_.clear();
}

break;
}
}
Expand Down
19 changes: 0 additions & 19 deletions planning/obstacle_stop_planner/src/planner_utils.cpp
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Expand Up @@ -494,25 +494,6 @@ pcl::PointXYZ pointToPcl(const double x, const double y, const double z)
return {pcl_x, pcl_y, pcl_z};
}

bool getSelfPose(const Header & header, const tf2_ros::Buffer & tf_buffer, Pose & self_pose)
{
try {
TransformStamped transform;
transform = tf_buffer.lookupTransform(
header.frame_id, "base_link", header.stamp, rclcpp::Duration::from_seconds(0.1));
self_pose.position.x = transform.transform.translation.x;
self_pose.position.y = transform.transform.translation.y;
self_pose.position.z = transform.transform.translation.z;
self_pose.orientation.x = transform.transform.rotation.x;
self_pose.orientation.y = transform.transform.rotation.y;
self_pose.orientation.z = transform.transform.rotation.z;
self_pose.orientation.w = transform.transform.rotation.w;
return true;
} catch (tf2::TransformException & ex) {
return false;
}
}

void getNearestPoint(
const PointCloud & pointcloud, const Pose & base_pose, pcl::PointXYZ * nearest_collision_point,
rclcpp::Time * nearest_collision_point_time)
Expand Down