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feat(behavior_path_palnner): update geometric parallel parking for pu…
…ll_out module (#1534) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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planning/behavior_path_planner/src/scene_module/pull_out/geometric_pull_out.cpp
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| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp" | ||
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| #include "behavior_path_planner/scene_module/pull_out/util.hpp" | ||
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| using lanelet::utils::getArcCoordinates; | ||
| using motion_utils::findNearestIndex; | ||
| using tier4_autoware_utils::calcDistance2d; | ||
| using tier4_autoware_utils::calcOffsetPose; | ||
| namespace behavior_path_planner | ||
| { | ||
| using pull_out_utils::combineReferencePath; | ||
| using pull_out_utils::getPullOutLanes; | ||
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| GeometricPullOut::GeometricPullOut( | ||
| rclcpp::Node & node, const PullOutParameters & parameters, | ||
| const ParallelParkingParameters & parallel_parking_parameters) | ||
| : PullOutPlannerBase{node, parameters}, parallel_parking_parameters_{parallel_parking_parameters} | ||
| { | ||
| } | ||
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| boost::optional<PullOutPath> GeometricPullOut::plan(Pose start_pose, Pose goal_pose) | ||
| { | ||
| PullOutPath output; | ||
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| // conbine road lane and shoulder lane | ||
| const auto road_lanes = util::getCurrentLanes(planner_data_); | ||
| const auto shoulder_lanes = getPullOutLanes(road_lanes, planner_data_); | ||
| auto lanes = road_lanes; | ||
| lanes.insert(lanes.end(), shoulder_lanes.begin(), shoulder_lanes.end()); | ||
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| // todo: set params only once? | ||
| planner_.setData(planner_data_, parallel_parking_parameters_); | ||
| const bool found_valid_path = | ||
| planner_.planPullOut(start_pose, goal_pose, road_lanes, shoulder_lanes); | ||
| if (!found_valid_path) { | ||
| return {}; | ||
| } | ||
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| // collsion check with objects in shoulder lanes | ||
| const auto arc_path = planner_.getArcPath(); | ||
| const auto shoulder_lane_objects = | ||
| util::filterObjectsByLanelets(*(planner_data_->dynamic_object), shoulder_lanes); | ||
| if (util::checkCollisionBetweenPathFootprintsAndObjects( | ||
| vehicle_footprint_, arc_path, shoulder_lane_objects, parameters_.collision_check_margin)) { | ||
| return {}; | ||
| } | ||
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| output.partial_paths = planner_.getPaths(); | ||
| output.start_pose = planner_.getArcPaths().at(0).points.back().point.pose; | ||
| output.end_pose = planner_.getArcPaths().at(1).points.back().point.pose; | ||
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| return output; | ||
| } | ||
| } // namespace behavior_path_planner |
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