feat(start_planner): define collision check margin as list #5994
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Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
…ffset_colission_check_segment
…ep_distance_against_front_objects
Signed-off-by: kyoichi-sugahara <[email protected]>
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Signed-off-by: kyoichi-sugahara <[email protected]>
…ep_distance_against_front_objects Signed-off-by: kyoichi-sugahara <[email protected]>
…ine_collision_check_margin_as_list
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5994 +/- ##
==========================================
+ Coverage 14.64% 15.31% +0.66%
==========================================
Files 1857 1759 -98
Lines 126480 121441 -5039
Branches 37048 37006 -42
==========================================
+ Hits 18526 18594 +68
+ Misses 87138 81974 -5164
- Partials 20816 20873 +57
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Signed-off-by: kyoichi-sugahara <[email protected]>
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…oundation#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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| size_t selected_start_pose_candidate_index; | ||
| double margin_for_start_pose_candidate; |
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better to separate start planner specific data
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…oundation#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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…oundation#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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…oundation#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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…oundation#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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…oundation#5994) * define collision check margins list in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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Description
This PR's change is based on following 3 PRs
The launcher PR shuold be merged first
define collision check margin as list.
path with having the largest margin will be searched and if the path is not found with the value, the smaller value will be used
Tests performed
Effects on system behavior
Not applicable.
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