fix(avoidance): fix a bug regarding the nearest search #5575
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Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5575 +/- ##
==========================================
- Coverage 15.26% 15.23% -0.04%
==========================================
Files 1713 1713
Lines 118192 118762 +570
Branches 37797 38189 +392
==========================================
+ Hits 18047 18090 +43
- Misses 79595 80070 +475
- Partials 20550 20602 +52
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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yuki-takagi-66
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…ation#5575) * fix a bug regarding nearest search --------- Signed-off-by: Yuki Takagi <[email protected]>
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fix(avoidance): fix a bug regarding the nearest search (autowarefoundation#5575)
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…ation#5575) * fix a bug regarding nearest search --------- Signed-off-by: Yuki Takagi <[email protected]> Signed-off-by: santosh-interplai <[email protected]>
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…ation#5575) * fix a bug regarding nearest search --------- Signed-off-by: Yuki Takagi <[email protected]> Signed-off-by: santosh-interplai <[email protected]>
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…ation#5575) * fix a bug regarding nearest search --------- Signed-off-by: Yuki Takagi <[email protected]>
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Hi, I plan to reproduce this bug. May I know what psim tests and the tier4 internal tests were used here? Thanks! @yuki-takagi-66 @satoshi-ota |
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Description
This PR fix a bug regarding the nearest search in the function
extendBackwardLength()This function requires two pose which are appropriately near to the current ego pose.
The first one is denoted by
orig_ego_idxand shown in the figure as the blue arrow, the other one is dented byprev_ego_idxand shown in the figure as the red arrow.The code so far failure to find
prev_ego_idxappropriately and this PR fix this bug.This PR is re-opened PR from #5574 by the author's mistaken force push
Tests performed
psim tests and the tier4 internal test were performed in success.
Effects on system behavior
This PR enables to the system generates avoidance path appropriately on the curved reference paths
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