refactor(behavior_path_planner): refactor planWithPriority in start_planner #5393
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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
…n_with_priority Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
…n_with_priority Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kosuke55
reviewed
Oct 25, 2023
planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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| for (const auto & pair : order_priority) { | ||
| if (findPullOutPath( | ||
| start_pose_candidates, pair.first, pair.second, refined_start_pose, goal_pose)) | ||
| return; | ||
| } |
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I prefer
Suggested change
| for (const auto & pair : order_priority) { | |
| if (findPullOutPath( | |
| start_pose_candidates, pair.first, pair.second, refined_start_pose, goal_pose)) | |
| return; | |
| } | |
| for (const auto & [index, planner] : order_priority) { | |
| if (findPullOutPath( | |
| start_pose_candidates, index, planner, refined_start_pose, goal_pose)) | |
| return; | |
| } |
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I didn't know this way and looks better!
changed in 791145e
…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
kosuke55
reviewed
Oct 25, 2023
| const auto make_loop_order_planner_first = [&]() { | ||
| PriorityOrder order_priority; | ||
| PriorityOrder StartPlannerModule::determinePriorityOrder( | ||
| const std::string & search_priority, size_t candidates_size) |
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Suggested change
| const std::string & search_priority, size_t candidates_size) | |
| const std::string & search_priority, const size_t candidates_size) |
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changed in 791145e
kosuke55
reviewed
Oct 25, 2023
Comment on lines
584
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594
| void StartPlannerModule::updateStatusWithNextPath( | ||
| const behavior_path_planner::PullOutPath & path, const Pose & start_pose, | ||
| const std::shared_ptr<PullOutPlannerBase> & planner) | ||
| { | ||
| const std::lock_guard<std::mutex> lock(mutex_); | ||
| status_.driving_forward = false; | ||
| status_.found_pull_out_path = true; | ||
| status_.pull_out_path = path; | ||
| status_.pull_out_start_pose = start_pose; | ||
| status_.planner_type = planner->getPlannerType(); | ||
| } |
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nits:
giving planner_type instead of planner is enough
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I agree! thanks!
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changed in 791145e
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5393 +/- ##
==========================================
+ Coverage 14.78% 14.81% +0.02%
==========================================
Files 1661 1662 +1
Lines 115453 115438 -15
Branches 35644 35634 -10
==========================================
+ Hits 17068 17099 +31
+ Misses 79153 79093 -60
- Partials 19232 19246 +14
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
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Description
minor refactor the function
planWithPriotitythe PR should be merged.
🤖 Generated by Copilot at 6ccd8a2
This pull request enhances the start planner module, which plans a path for the ego vehicle to pull out of a parking spot. It improves the readability and maintainability of the code by introducing type aliases, renaming fields and methods, and refactoring the logic with new private methods. It also changes the compatibility check with other scene modules based on the vehicle's direction.
Tests performed
Effects on system behavior
Not applicable.
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