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feat(obstacle_avoidance_planner): not only yaw thresh but also dist thresh for find nearest index #1037

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merged 2 commits into from
Jun 6, 2022
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feat(obstacle_avoidance_planner): not only yaw thresh but also dist thresh for find nearest index #1037

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be54cb6
feat(obstacle_avoidance_planner): not only yaw thresh but also dist t…
takayuki5168 Jun 5, 2022
cdc930d
Merge branch 'main' into fix/dist-constraint-for-find-nearest-index
takayuki5168 Jun 6, 2022
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2 changes: 1 addition & 1 deletion planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -296,7 +296,7 @@ class MPTOptimizer

size_t findNearestIndexWithSoftYawConstraints(
const std::vector<geometry_msgs::msg::Point> & points, const geometry_msgs::msg::Pose & pose,
const double yaw_threshold) const;
const double dist_threshold, const double yaw_threshold) const;

public:
MPTOptimizer(
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9 changes: 6 additions & 3 deletions planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
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Expand Up @@ -430,6 +430,7 @@ void MPTOptimizer::calcPlanningFromEgo(std::vector<ReferencePoint> & ref_points)
// assign fix kinematics
const size_t nearest_ref_idx = findNearestIndexWithSoftYawConstraints(
points_utils::convertToPoints(ref_points), current_ego_pose_,
traj_param_.delta_dist_threshold_for_closest_point,
traj_param_.delta_yaw_threshold_for_closest_point);

// calculate cropped_ref_points.at(nearest_ref_idx) with yaw
Expand Down Expand Up @@ -468,6 +469,7 @@ std::vector<ReferencePoint> MPTOptimizer::getFixedReferencePoints(
const auto & prev_ref_points = prev_trajs->mpt_ref_points;
const int nearest_prev_ref_idx = static_cast<int>(findNearestIndexWithSoftYawConstraints(
points_utils::convertToPoints(prev_ref_points), current_ego_pose_,
traj_param_.delta_dist_threshold_for_closest_point,
traj_param_.delta_yaw_threshold_for_closest_point));

// calculate begin_prev_ref_idx
Expand Down Expand Up @@ -1222,12 +1224,12 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> MPTOptimizer::get

size_t MPTOptimizer::findNearestIndexWithSoftYawConstraints(
const std::vector<geometry_msgs::msg::Point> & points, const geometry_msgs::msg::Pose & pose,
const double yaw_threshold) const
const double dist_threshold, const double yaw_threshold) const
{
const auto points_with_yaw = points_utils::convertToPosesWithYawEstimation(points);

const auto nearest_idx_optional = tier4_autoware_utils::findNearestIndex(
points_with_yaw, pose, std::numeric_limits<double>::max(), yaw_threshold);
const auto nearest_idx_optional =
tier4_autoware_utils::findNearestIndex(points_with_yaw, pose, dist_threshold, yaw_threshold);
return nearest_idx_optional
? *nearest_idx_optional
: tier4_autoware_utils::findNearestIndex(points_with_yaw, pose.position);
Expand Down Expand Up @@ -1330,6 +1332,7 @@ void MPTOptimizer::calcExtraPoints(
points_utils::convertToPosesWithYawEstimation(points_utils::convertToPoints(ref_points));
const size_t prev_idx = findNearestIndexWithSoftYawConstraints(
points_utils::convertToPoints(prev_ref_points), ref_points_with_yaw.at(i),
traj_param_.delta_dist_threshold_for_closest_point,
traj_param_.delta_yaw_threshold_for_closest_point);
const double dist_to_nearest_prev_ref =
tier4_autoware_utils::calcDistance2d(prev_ref_points.at(prev_idx), ref_points.at(i));
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9 changes: 5 additions & 4 deletions planning/obstacle_avoidance_planner/src/node.cpp
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Expand Up @@ -203,12 +203,12 @@ std::tuple<std::vector<double>, std::vector<double>> calcVehicleCirclesInfo(

size_t findNearestIndexWithSoftYawConstraints(
const std::vector<geometry_msgs::msg::Point> & points, const geometry_msgs::msg::Pose & pose,
const double yaw_threshold)
const double dist_threshold, const double yaw_threshold)
{
const auto points_with_yaw = points_utils::convertToPosesWithYawEstimation(points);

const auto nearest_idx_optional = tier4_autoware_utils::findNearestIndex(
points_with_yaw, pose, std::numeric_limits<double>::max(), yaw_threshold);
const auto nearest_idx_optional =
tier4_autoware_utils::findNearestIndex(points_with_yaw, pose, dist_threshold, yaw_threshold);
return nearest_idx_optional
? *nearest_idx_optional
: tier4_autoware_utils::findNearestIndex(points_with_yaw, pose.position);
Expand Down Expand Up @@ -1083,6 +1083,7 @@ void ObstacleAvoidancePlanner::calcVelocity(
for (size_t i = 0; i < traj_points.size(); i++) {
const size_t nearest_path_idx = findNearestIndexWithSoftYawConstraints(
points_utils::convertToPoints(path_points), traj_points.at(i).pose,
traj_param_.delta_dist_threshold_for_closest_point,
traj_param_.delta_yaw_threshold_for_closest_point);
const size_t second_nearest_path_idx = [&]() -> size_t {
if (nearest_path_idx == 0) {
Expand Down Expand Up @@ -1464,7 +1465,7 @@ ObstacleAvoidancePlanner::alignVelocity(

const auto & target_pose = fine_traj_points_with_vel[i].pose;
const auto closest_seg_idx_optional = tier4_autoware_utils::findNearestSegmentIndex(
truncated_points, target_pose, std::numeric_limits<double>::max(),
truncated_points, target_pose, traj_param_.delta_dist_threshold_for_closest_point,
traj_param_.delta_yaw_threshold_for_closest_point);

const auto closest_seg_idx =
Expand Down