Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

chore(path_optimizer): add warn msg for exceptional behavior #9033

Merged
merged 1 commit into from
Oct 4, 2024
Merged

chore(path_optimizer): add warn msg for exceptional behavior #9033

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 6 additions & 2 deletions planning/autoware_path_optimizer/src/mpt_optimizer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/autoware_path_optimizer/src/mpt_optimizer.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1254 to 1258, 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.
Expand Down Expand Up @@ -477,8 +477,13 @@

const auto get_prev_optimized_traj_points = [&]() {
if (prev_optimized_traj_points_ptr_) {
RCLCPP_WARN(logger_, "return the previous optimized_trajectory as exceptional behavior.");
return *prev_optimized_traj_points_ptr_;
}
RCLCPP_WARN(
logger_,
"Try to return the previous optimized_trajectory as exceptional behavior, "
"but this failure also. Then return path_smoother output.");
return traj_points;
};

Expand All @@ -505,8 +510,7 @@
// 6. optimize steer angles
const auto optimized_variables = calcOptimizedSteerAngles(ref_points, obj_mat, const_mat);
if (!optimized_variables) {
RCLCPP_INFO_EXPRESSION(
logger_, enable_debug_info_, "return std::nullopt since could not solve qp");
RCLCPP_WARN(logger_, "return std::nullopt since could not solve qp");
return get_prev_optimized_traj_points();
}

Expand Down
Loading