feat(start_planner): shift path points to keep distance from left boundary #7228
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kyoichi-sugahara
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…ndary Signed-off-by: kyoichi-sugahara <[email protected]>
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This pull request has been automatically marked as stale because it has not had recent activity. |
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@kyoichi-sugahara Do you still need this modification? |
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@mitsudome-r |
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Description
offset is calculated from start pose to center parh and applied to center path.
In this case, the back pose canditate can be out of lane with lane witdh changing.
pink rectangle is the backed path caclulated internally.
improvement
Calculate the offset and shift each path point to maintain a constant distance from the left boundary.
Tests performed
Effects on system behavior
Not applicable.
Interface changes
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