feat(behavior_path_planner): update behavior path planner #1095
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…nt (autowarefoundation#6053) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
* fix(motion_utils): add guard to calcCurvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…warefoundation#6068) * feat(goal_planner): add scale buffer to calcModuleRequestLength Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…utowarefoundation#6049) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
* pref(avoidance): don't use boost union_ Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * perf(avoidance): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * perf(turn_signal): reduce frequency to call calcSignedArcLength Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * perf(static_drivable_area_expansion): don't use calcDistance2d Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(static_drivable_area_expansion): rename and fix return value consistency Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…t endless loop (autowarefoundation#6084) * perf(avoidance): reduce heavy process Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): filter objects by precise lon distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(avoidance): remove unused function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(avoidance): improve detection area Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): return shift line Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…neously (autowarefoundation#5979) * feat(avoidance/goal_planner): execute avoidance and pull over simultaneously Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use utils Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix overlapped Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * reafactor(behavior_path_planner): move isAllowedGoalModification to common Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix readme Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add goal modification condtion to avoidance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * clean up * revert param Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix param Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * move dead line process Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix condition Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix crop Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix crop * fix typos Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…as (autowarefoundation#6095) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…efoundation#6097) * fix(avoidance): fix invalid vector access Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(avoidance): fix detection area Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
…refoundation#6087) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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LGTMAGAIN |
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Description
avoidance + goal planner連携周りの変更がメイン。
start plannerも注目物体の可視化マーカーを追加
Related links
Tests performed
psim, snceario in main branch
scenario test in xx1
https://evaluation.tier4.jp/evaluation/reports/4e6fe486-78c4-54a0-b552-b3aaf5838a69?project_id=prd_jt
(〜feat(goal_planner): exclude goals located laterally in no_parking_are…
4ab68fa)
Notes for reviewers
Interface changes
Effects on system behavior
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