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feat(behavior_path_planner): update filter objects by velocity #4742

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merged 2 commits into from
Aug 25, 2023
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feat(behavior_path_planner): update filter objects by velocity #4742

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eeba145
update filter objects by velocity
kyoichi-sugahara Aug 24, 2023
8603cf8
improve readability
kyoichi-sugahara Aug 25, 2023
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3 changes: 2 additions & 1 deletion ...ath_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,8 @@ PredictedObjects filterObjects(
* @param lim_v Velocity limit for filtering.
* @return PredictedObjects The filtered objects.
*/
PredictedObjects filterObjectsByVelocity(const PredictedObjects & objects, double lim_v);
PredictedObjects filterObjectsByVelocity(
const PredictedObjects & objects, const double lim_v, const bool filter_dynamic_objects = true);
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dynamic_objects means objects whose velocity is larger than lim_v

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a little unclear

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@kosuke55
I agree.

a little unclear

How about this?

/**
 * @brief Filters objects based on their velocity.
 *
 * Depending on the remove_above_threshold parameter, this function either removes objects with
 * velocities above the given threshold or only keeps those objects. It uses the helper function
 * filterObjectsByVelocity() to do the actual filtering.
 *
 * @param objects The objects to be filtered.
 * @param velocity_threshold The velocity threshold for the filtering.
 * @param remove_above_threshold If true, objects with velocities above the threshold are removed.
 *                               If false, only objects with velocities above the threshold are kept.
 * @return A new collection of objects that have been filtered according to the rules.
 */
PredictedObjects filterObjectsByVelocity(
  const PredictedObjects & objects, const double velocity_threshold,
  const bool remove_above_threshold)

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nice! thanks!!


/**
* @brief Filter objects based on a velocity range.
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11 changes: 8 additions & 3 deletions planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ PredictedObjects filterObjects(

PredictedObjects filtered_objects;

filtered_objects = filterObjectsByVelocity(*objects, ignore_object_velocity_threshold);
filtered_objects = filterObjectsByVelocity(*objects, ignore_object_velocity_threshold, false);

filterObjectsByClass(filtered_objects, target_object_types);

Expand All @@ -51,9 +51,14 @@ PredictedObjects filterObjects(
return filtered_objects;
}

PredictedObjects filterObjectsByVelocity(const PredictedObjects & objects, double lim_v)
PredictedObjects filterObjectsByVelocity(
const PredictedObjects & objects, double lim_v, const bool filter_dynamic_objects)
{
return filterObjectsByVelocity(objects, -lim_v, lim_v);
if (filter_dynamic_objects) {
return filterObjectsByVelocity(objects, -lim_v, lim_v);
} else {
return filterObjectsByVelocity(objects, lim_v, std::numeric_limits<double>::max());
}
}

PredictedObjects filterObjectsByVelocity(
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