feat(goal_planner): keep margin against objects as possible #5569
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kosuke55
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5569 +/- ##
=======================================
Coverage 15.32% 15.32%
=======================================
Files 1721 1721
Lines 118559 118534 -25
Branches 37995 38017 +22
=======================================
- Hits 18169 18168 -1
+ Misses 79657 79627 -30
- Partials 20733 20739 +6
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
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| @@ -1329,7 +1400,30 @@ bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const | |||
| obj_polygons.push_back(tier4_autoware_utils::toPolygon2d(object)); | |||
| } | |||
|
|
|||
| std::vector<Polygon2d> ego_polygons_expanded; | |||
| /* Expand ego collision check polygon | |||
| @@ -53,6 +53,7 @@ struct PullOverPath | |||
| Pose end_pose{}; | |||
| std::vector<Pose> debug_poses{}; | |||
| size_t goal_id{}; | |||
| size_t id{}; | |||
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id for path_candidates?
|
the actual diff is dec0896 |
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…foundation#5569) * refactor(goal_planner): add prev_data instead of status Signed-off-by: kosuke55 <[email protected]> * feat(goal_planner): keep margin against objects as possible Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
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Description
feat(goal_planner): keep margin against objects as possible
before
gol_planner_suresure-2023-11-13_17.34.25.mp4
after
gol_planner_suresure-2023-11-13_22.55.33.mp4
Related links
tier4 internal ticket
https://tier4.atlassian.net/browse/RT1-4131
Tests performed
psim
evaluator_description: feat/keep_distance
2023/11/13 https://evaluation.tier4.jp/evaluation/reports/828fceb1-3f15-56bd-b598-2d0be9c3e9ea/?project_id=prd_jt
evaluator_description: feat/keep_distance
2023/11/16 https://evaluation.tier4.jp/evaluation/reports/3feacb18-f7d5-505c-bde4-4d50c98d36f0/?project_id=prd_jt
Notes for reviewers
none
Interface changes
none
Effects on system behavior
none
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