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feat(route_handler): use start pose yaw and not lanelet length to select start lanelet #6550

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Mar 6, 2024
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feat(route_handler): use start pose yaw and not lanelet length to select start lanelet #6550

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55 changes: 21 additions & 34 deletions planning/route_handler/src/route_handler.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021-2023 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1911 to 1900, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
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lanelet::routing::LaneletPath shortest_path;
bool is_route_found = false;

lanelet::routing::LaneletPath drivable_lane_path;
bool drivable_lane_path_found = false;
double shortest_path_length2d = std::numeric_limits<double>::max();
double smallest_angle_diff = std::numeric_limits<double>::max();
constexpr double yaw_threshold = M_PI / 2.0;

for (const auto & st_llt : start_lanelets) {
// check if the angle difference between start_checkpoint and start lanelet center line
// orientation is in yaw_threshold range
double yaw_threshold = M_PI / 2.0;
bool is_proper_angle = false;
{
double lanelet_angle = lanelet::utils::getLaneletAngle(st_llt, start_checkpoint.position);
double pose_yaw = tf2::getYaw(start_checkpoint.orientation);
double angle_diff = std::abs(autoware_utils::normalize_radian(lanelet_angle - pose_yaw));

if (angle_diff <= std::abs(yaw_threshold)) {
is_proper_angle = true;
}
}
double lanelet_angle = lanelet::utils::getLaneletAngle(st_llt, start_checkpoint.position);
double pose_yaw = tf2::getYaw(start_checkpoint.orientation);
double angle_diff = std::abs(autoware_utils::normalize_radian(lanelet_angle - pose_yaw));

bool is_proper_angle = angle_diff <= std::abs(yaw_threshold);

optional_route = routing_graph_ptr_->getRoute(st_llt, goal_lanelet, 0);
if (!optional_route || !is_proper_angle) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to find a proper route!"
<< std::endl
<< " - start checkpoint: " << toString(start_checkpoint) << std::endl
<< " - goal checkpoint: " << toString(goal_checkpoint) << std::endl
<< " - start lane id: " << st_llt.id() << std::endl
<< " - goal lane id: " << goal_lanelet.id() << std::endl);
} else {
is_route_found = true;

if (optional_route->length2d() < shortest_path_length2d) {
shortest_path_length2d = optional_route->length2d();
shortest_path = optional_route->shortestPath();
start_lanelet = st_llt;
}
continue;
}

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planning/route_handler/src/route_handler.cpp#L2157-L2158 

Added lines #L2157 - L2158 were not covered by tests
is_route_found = true;
if (angle_diff < smallest_angle_diff) {
smallest_angle_diff = angle_diff;
shortest_path = optional_route->shortestPath();
start_lanelet = st_llt;
}
}

if (is_route_found) {
lanelet::routing::LaneletPath path;
if (consider_no_drivable_lanes) {
bool shortest_path_has_no_drivable_lane = hasNoDrivableLaneInPath(shortest_path);
if (shortest_path_has_no_drivable_lane) {
path = [&]() -> lanelet::routing::LaneletPath {
if (!consider_no_drivable_lanes) return shortest_path;
lanelet::routing::LaneletPath drivable_lane_path;

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planning/route_handler/src/route_handler.cpp#L2171 

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bool drivable_lane_path_found = false;
if (hasNoDrivableLaneInPath(shortest_path)) {
drivable_lane_path_found =
findDrivableLanePath(start_lanelet, goal_lanelet, drivable_lane_path);
}

if (drivable_lane_path_found) {
path = drivable_lane_path;
} else {
path = shortest_path;
}
} else {
path = shortest_path;
}
return (drivable_lane_path_found) ? drivable_lane_path : shortest_path;
}();

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Bumpy Road Ahead 

RouteHandler::planPathLaneletsBetweenCheckpoints decreases from 4 to 3 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

path_lanelets->reserve(path.size());
for (const auto & llt : path) {
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