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fix(obstacle_cruise_planner): unknown collision calculation #1226

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merged 2 commits into from
Jul 6, 2022
Merged

fix(obstacle_cruise_planner): unknown collision calculation #1226

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775d7ab
fix(obstacle_cruise_planner): unknown collision calculation
takayuki5168 Jul 4, 2022
5cc0ddd
remove unnecessary appendPointToPolygon
takayuki5168 Jul 4, 2022
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34 changes: 23 additions & 11 deletions planning/obstacle_cruise_planner/src/polygon_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,6 @@ void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point &
bg::append(polygon.outer(), point);
}

void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point32 & geom_point)
{
Point2d point;
point.x() = geom_point.x;
point.y() = geom_point.y;

bg::append(polygon.outer(), point);
}

void appendPointToPolygon(Polygon2d & polygon, const Point2d point)
{
bg::append(polygon.outer(), point);
Expand Down Expand Up @@ -116,6 +107,21 @@ Polygon2d createOneStepPolygon(

return hull_polygon;
}

geometry_msgs::msg::Polygon rotatePolygon(
const geometry_msgs::msg::Polygon & polygon, const double & angle)
{
const double cos = std::cos(angle);
const double sin = std::sin(angle);
geometry_msgs::msg::Polygon rotated_polygon;
for (const auto & point : polygon.points) {
auto rotated_point = point;
rotated_point.x = cos * point.x - sin * point.y;
rotated_point.y = sin * point.x + cos * point.y;
rotated_polygon.points.push_back(rotated_point);
}
return rotated_polygon;
}
} // namespace

namespace polygon_utils
Expand Down Expand Up @@ -167,8 +173,14 @@ Polygon2d convertObstacleToPolygon(
// NOTE: push back the first point in order to close polygon
appendPointToPolygon(polygon, polygon.outer().front());
} else if (shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) {
for (const auto point : shape.footprint.points) {
appendPointToPolygon(polygon, point);
const double poly_yaw = tf2::getYaw(pose.orientation);
const auto rotated_footprint = rotatePolygon(shape.footprint, poly_yaw);
for (const auto rel_point : rotated_footprint.points) {
geometry_msgs::msg::Point abs_point;
abs_point.x = pose.position.x + rel_point.x;
abs_point.y = pose.position.y + rel_point.y;

appendPointToPolygon(polygon, abs_point);
}
if (polygon.outer().size() > 0) {
// NOTE: push back the first point in order to close polygon
Expand Down