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feat(raw_vehicle_cmd_converter): validate map at first before run time (
#2152) * feat(raw_vehicle_cmd_converter): validate map at first before run time Signed-off-by: taikitanaka3 <[email protected]> * chore: remove debug * fix: clamp method and add more unit tests Signed-off-by: taikitanaka3 <[email protected]> * feat: add more realistic params Signed-off-by: taikitanaka3 <[email protected]> * chore: revert to simple map Signed-off-by: tanaka3 <[email protected]> * Revert "chore: revert to simple map" This reverts commit 0350724. Signed-off-by: taikitanaka3 <[email protected]> Signed-off-by: tanaka3 <[email protected]>
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18 changes: 14 additions & 4 deletions
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vehicle/raw_vehicle_cmd_converter/data/default/steer_map.csv
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@@ -1,4 +1,14 @@ | ||
default,-10,0,10 | ||
-10,-10,-10,-10 | ||
0,0,0,0 | ||
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10,0.5,0.49,0.48,0.4629455165,0.4210353203,0.3977027236,0.3865034288,0.3250957262,0.312237913,0.2885123051,0.2474220915,0.2123900615,0.1773580315 | ||
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8 changes: 4 additions & 4 deletions
8
vehicle/raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv
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@@ -1,4 +1,4 @@ | ||
default,0.0, 10.0, 20.0 | ||
0, 1.0, 11.0, 21.0 | ||
0.5, 2.0, 22.0, 42.0 | ||
1.0, 3.0, 33.0, 46.0 | ||
default,0.0, 5.0, 10.0 | ||
0.0, 0.0, -0.3, -0.5 | ||
0.5, 1.0, 0.5, 0.0 | ||
1.0, 3.0, 2.0, 1.5 |
8 changes: 4 additions & 4 deletions
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vehicle/raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv
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@@ -1,4 +1,4 @@ | ||
default, 0.0, 10.0, 20.0 | ||
0, -1.0, -11.0, -21.0 | ||
0.5, -2.0, -22.0, -42.0 | ||
1.0, -3.0, -33.0, -46.0 | ||
default, 0.0, 5.0, 10.0 | ||
0, 0.0, -0.4, -0.5 | ||
0.5, -1.5, -2.0, -2.0 | ||
1.0, -2.0, -2.5, -3.0 |
6 changes: 3 additions & 3 deletions
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vehicle/raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv
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@@ -1,4 +1,4 @@ | ||
default,0.0, 10.0, 20.0 | ||
0, 1.0, 11.0, 21.0 | ||
0.5, 2.0, 22.0, 42.0 | ||
1.0, 3.0, 46.0 | ||
0, 21.0, 11.0, 1.0 | ||
0.5, 42.0, 22.0, 2.0 | ||
1.0, 46.0, 33.0 |
4 changes: 4 additions & 0 deletions
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vehicle/raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv
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@@ -0,0 +1,4 @@ | ||
default,0.0, 10.0, 20.0 | ||
0, 1.0, 11.0, 21.0 | ||
0.5, 0.9, 22.0, 42.0 | ||
1.0, 3.0, 46.0, 42.0 |
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