Change detection of front entity on path of NPC #45
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…elativeLaneletPose longitudinal distance
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piotr-zyskowski-rai
requested changes
Dec 11, 2024
dmoszynski
requested changes
Dec 11, 2024
simulation/behavior_tree_plugin/include/behavior_tree_plugin/action_node.hpp
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simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_front_entity_action.cpp
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simulation/behavior_tree_plugin/src/vehicle/follow_lane_sequence/follow_lane_action.cpp
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Description
NPC should detect another Entity with see_around even when the Entity does not overlap the center line of the lane which the NPC is on. This change allows to detect another NPC which overlap path of this NPC.
Abstract
This PR changes detection function of front entity in
ActionNode.Details
I've changed
getDistanceToTargetEntityPolygonto useboundingBoxRelativeLaneletPose. It calculates relative pose between current NPC and another one. If absolute value of offset is less than half of NPC width it means that it intersects with current NPC path. If so distance to front entity issof the pose enlarged by half of the length of NPC, as we need distance from the center.Destructive Changes
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Known Limitations
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