feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency #9685
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…and emergency Signed-off-by: Takayuki Murooka <[email protected]>
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Signed-off-by: Takayuki Murooka <[email protected]>
| @@ -562,8 +563,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData | |||
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| // distance to stopline | |||
| control_data.stop_dist = longitudinal_utils::calcStopDistance( | |||
| control_data.interpolated_traj.points.at(control_data.nearest_idx).pose, | |||
| control_data.interpolated_traj, m_ego_nearest_dist_threshold, m_ego_nearest_yaw_threshold); | |||
| current_pose, control_data.interpolated_traj, m_ego_nearest_dist_threshold, | |||
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This change using current_pose is necessary to calculate the negative distance when the ego exceeds the stop point so that the pid_longitudinal_controller will be in an emergency.
Is this okay for you considering the following PR where you replaced current_pose with control_data.interpolated_traj.points.at(control_data.nearest_idx).pose?
#4712
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@brkay54
I will merge now, but let me know anytime if the change does not look good to you.
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9685 +/- ##
==========================================
- Coverage 29.81% 29.80% -0.01%
==========================================
Files 1443 1444 +1
Lines 108607 108629 +22
Branches 42668 42674 +6
==========================================
+ Hits 32378 32379 +1
- Misses 73049 73068 +19
- Partials 3180 3182 +2
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…and emergency (autowarefoundation#9685) * feat(pid_longitudinal_controller): add virtual wall for dry steering and emergency Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
Description
This PR added a virtual wall when the pid_longitudinal_controller is in an emergency as follows.
Related links
How was this PR tested?
psim worked.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.