refactor(goal_planner): refactor PullOverPlannseBase to instantiate only valid path #8983
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soblin
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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soblin
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Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
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Signed-off-by: Mamoru Sobue <[email protected]>
kosuke55
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Oct 1, 2024
| partial_paths, path_shifter.getShiftLines().front().start, | ||
| path_shifter.getShiftLines().front().end); | ||
| pull_over_path.pairs_terminal_velocity_and_accel.push_back(std::make_pair(pull_over_velocity, 0)); | ||
| auto pull_over_path_opt = PullOverPath::create( |
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Suggested change
| auto pull_over_path_opt = PullOverPath::create( | |
| const auto pull_over_path_opt = PullOverPath::create( |
Comment on lines
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| auto pull_over_path_opt = PullOverPath::create( | ||
| getPlannerType(), goal_id, id, partial_paths, current_pose, goal_pose, | ||
| pairs_terminal_velocity_and_accel); | ||
| if (!pull_over_path_opt) { | ||
| return {}; | ||
| } | ||
| auto & pull_over_path = pull_over_path_opt.value(); |
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Suggested change
| auto pull_over_path_opt = PullOverPath::create( | |
| getPlannerType(), goal_id, id, partial_paths, current_pose, goal_pose, | |
| pairs_terminal_velocity_and_accel); | |
| if (!pull_over_path_opt) { | |
| return {}; | |
| } | |
| auto & pull_over_path = pull_over_path_opt.value(); | |
| const auto pull_over_path_opt = PullOverPath::create( | |
| getPlannerType(), goal_id, id, partial_paths, current_pose, goal_pose, | |
| pairs_terminal_velocity_and_accel); | |
| if (!pull_over_path_opt) { | |
| return {}; | |
| } | |
| const auto & pull_over_path = pull_over_path_opt.value(); |
...behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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kosuke55
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Oct 1, 2024
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| auto pull_over_path_opt = PullOverPath::create( | ||
| getPlannerType(), goal_id, id, planner_.getPaths(), planner_.getStartPose(), | ||
| planner_.getArcEndPose(), planner_.getPairsTerminalVelocityAndAccel()); | ||
| if (!pull_over_path_opt) { | ||
| return {}; | ||
| } | ||
| auto & pull_over_path = pull_over_path_opt.value(); |
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Suggested change
| auto pull_over_path_opt = PullOverPath::create( | |
| getPlannerType(), goal_id, id, planner_.getPaths(), planner_.getStartPose(), | |
| planner_.getArcEndPose(), planner_.getPairsTerminalVelocityAndAccel()); | |
| if (!pull_over_path_opt) { | |
| return {}; | |
| } | |
| auto & pull_over_path = pull_over_path_opt.value(); | |
| const auto pull_over_path_opt = PullOverPath::create( | |
| getPlannerType(), goal_id, id, planner_.getPaths(), planner_.getStartPose(), | |
| planner_.getArcEndPose(), planner_.getPairsTerminalVelocityAndAccel()); | |
| if (!pull_over_path_opt) { | |
| return {}; | |
| } | |
| const auto & pull_over_path = pull_over_path_opt.value(); |
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(nits): return pull_over_path_opt.value();
kosuke55
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Oct 1, 2024
Signed-off-by: Mamoru Sobue <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8983 +/- ##
==========================================
- Coverage 26.05% 26.03% -0.03%
==========================================
Files 1315 1320 +5
Lines 98503 98593 +90
Branches 40113 40142 +29
==========================================
Hits 25668 25668
- Misses 70117 70194 +77
- Partials 2718 2731 +13
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
prakash-kannaiah
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Oct 9, 2024
…nly valid path (autowarefoundation#8983) Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: prakash-kannaiah <[email protected]>
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Description
Related links
Parent Issue:
How was this PR tested?
https://evaluation.tier4.jp/evaluation/reports/babee270-4645-50a2-bbe0-a971956166f7?project_id=prd_jt
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.