fix(pid_longitudinal_controller): add virtual last point to avoid wrong find wrong nearest_idx #5077
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Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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…ng find wrong nearest_idx Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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@brkay54 would you rebase this branch on main for review? |
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Hi @TakaHoribe -san, I investigated the problem after #6391 merged. I couldn't see the index issue. I am closing the PR. |
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Description
While tests in the real environment, we realized that if the vehicle can not stop before the stop point and after it past from the stop point, finding the nearest index and target index is not working anymore because it can not find the nearest point because all the points are behind the vehicle. To fix this, this PR adds a virtual last point to avoid weird behaviors while stopping.
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Interface changes
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