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

Jump to bottom

fix(behavior_velocity_planner): sort unique_lane_ids for merge_from_private_area #1323

Merged
merged 7 commits into from
Jul 13, 2022
Merged

fix(behavior_velocity_planner): sort unique_lane_ids for merge_from_private_area #1323

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
48664c8
fix(behavior_velocity_planner): sort unique_lane_ids for merge_from_p…
tkimura4 Jul 12, 2022
4eddeac
use same function
tkimura4 Jul 12, 2022
eddc789
Apply suggestions from code review
tkimura4 Jul 12, 2022
b725fd3
fix
tkimura4 Jul 13, 2022
c93f9d8
Merge branch 'fix/merge_from_private_area' of github.com:tier4/autowa…
tkimura4 Jul 13, 2022
628606c
Apply suggestions from code review
tkimura4 Jul 13, 2022
cdcbea6
Apply suggestions from code review
tkimura4 Jul 13, 2022
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
36 changes: 18 additions & 18 deletions planning/behavior_velocity_planner/include/utilization/util.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -296,36 +296,36 @@ std::vector<T> concatVector(const std::vector<T> & vec1, const std::vector<T> &
return concat_vec;
}

boost::optional<int64_t> getNearestLaneId(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const lanelet::LaneletMapPtr lanelet_map, const geometry_msgs::msg::Pose & current_pose,
boost::optional<size_t> & nearest_segment_idx);

template <class T>
std::unordered_map<typename std::shared_ptr<const T>, lanelet::ConstLanelet> getRegElemMapOnPath(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const lanelet::LaneletMapPtr lanelet_map, const geometry_msgs::msg::Pose & current_pose)
{
std::unordered_map<typename std::shared_ptr<const T>, lanelet::ConstLanelet> reg_elem_map_on_path;
std::set<int64_t> unique_lane_ids;
auto nearest_segment_idx = tier4_autoware_utils::findNearestSegmentIndex(
path.points, current_pose, std::numeric_limits<double>::max(), M_PI_2);

// Add current lane id
lanelet::ConstLanelets current_lanes;
if (
lanelet::utils::query::getCurrentLanelets(
lanelet::utils::query::laneletLayer(lanelet_map), current_pose, &current_lanes) &&
nearest_segment_idx) {
for (const auto & ll : current_lanes) {
if (
ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0) ||
ll.id() == path.points.at(*nearest_segment_idx + 1).lane_ids.at(0)) {
unique_lane_ids.insert(ll.id());
}
}
boost::optional<size_t> nearest_segment_idx;
const auto nearest_lane_id =
getNearestLaneId(path, lanelet_map, current_pose, nearest_segment_idx);

std::vector<int64_t> unique_lane_ids;
if (nearest_lane_id) {
unique_lane_ids.emplace_back(*nearest_lane_id);
}

// Add forward path lane_id
const size_t start_idx = *nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
const size_t start_idx = nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
for (size_t i = start_idx; i < path.points.size(); i++) {
unique_lane_ids.insert(
path.points.at(i).lane_ids.at(0)); // should we iterate ids? keep as it was.
const int64_t lane_id = path.points.at(i).lane_ids.at(0);
if (
std::find(unique_lane_ids.begin(), unique_lane_ids.end(), lane_id) == unique_lane_ids.end()) {
unique_lane_ids.emplace_back(lane_id);
}
}

for (const auto lane_id : unique_lane_ids) {
Expand Down
30 changes: 13 additions & 17 deletions planning/behavior_velocity_planner/src/scene_module/crosswalk/manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <scene_module/crosswalk/manager.hpp>
#include <utilization/util.hpp>

#include <memory>
#include <set>
Expand All @@ -28,33 +29,28 @@ std::vector<lanelet::ConstLanelet> getCrosswalksOnPath(
const std::shared_ptr<const lanelet::routing::RoutingGraphContainer> & overall_graphs)
{
std::vector<lanelet::ConstLanelet> crosswalks;
std::set<int64_t> unique_lane_ids;

auto nearest_segment_idx = tier4_autoware_utils::findNearestSegmentIndex(
path.points, current_pose, std::numeric_limits<double>::max(), M_PI_2);

// Add current lane id
lanelet::ConstLanelets current_lanes;
if (
lanelet::utils::query::getCurrentLanelets(
lanelet::utils::query::laneletLayer(lanelet_map), current_pose, &current_lanes) &&
nearest_segment_idx) {
for (const auto & ll : current_lanes) {
if (
ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0) ||
ll.id() == path.points.at(*nearest_segment_idx + 1).lane_ids.at(0)) {
unique_lane_ids.insert(ll.id());
}
}
const auto nearest_lane_id = behavior_velocity_planner::planning_utils::getNearestLaneId(
path, lanelet_map, current_pose, nearest_segment_idx);

std::vector<int64_t> unique_lane_ids;
if (nearest_lane_id) {
unique_lane_ids.emplace_back(*nearest_lane_id);
}

// Add forward path lane_id
const size_t start_idx = *nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
const size_t start_idx = nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
for (size_t i = start_idx; i < path.points.size(); i++) {
unique_lane_ids.insert(
path.points.at(i).lane_ids.at(0)); // should we iterate ids? keep as it was.
const int64_t lane_id = path.points.at(i).lane_ids.at(0);
if (
std::find(unique_lane_ids.begin(), unique_lane_ids.end(), lane_id) == unique_lane_ids.end()) {
unique_lane_ids.emplace_back(lane_id);
}
}

for (const auto lane_id : unique_lane_ids) {
const auto ll = lanelet_map->laneletLayer.get(lane_id);

Expand Down
56 changes: 44 additions & 12 deletions planning/behavior_velocity_planner/src/utilization/util.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -593,34 +593,66 @@ LineString2d extendLine(
{(p1 - length * t).x(), (p1 - length * t).y()}, {(p2 + length * t).x(), (p2 + length * t).y()}};
}

std::vector<lanelet::ConstLanelet> getLaneletsOnPath(
boost::optional<int64_t> getNearestLaneId(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const lanelet::LaneletMapPtr lanelet_map, const geometry_msgs::msg::Pose & current_pose)
const lanelet::LaneletMapPtr lanelet_map, const geometry_msgs::msg::Pose & current_pose,
boost::optional<size_t> & nearest_segment_idx)
{
std::set<int64_t> unique_lane_ids;
auto nearest_segment_idx = tier4_autoware_utils::findNearestSegmentIndex(
boost::optional<int64_t> nearest_lane_id;

nearest_segment_idx = tier4_autoware_utils::findNearestSegmentIndex(
path.points, current_pose, std::numeric_limits<double>::max(), M_PI_2);

// Add current lane id
if (!nearest_segment_idx) {
return boost::none;
}

lanelet::ConstLanelets current_lanes;
if (
lanelet::utils::query::getCurrentLanelets(
lanelet::utils::query::laneletLayer(lanelet_map), current_pose, &current_lanes) &&
nearest_segment_idx) {
for (const auto & ll : current_lanes) {
if (
ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0) ||
ll.id() == path.points.at(*nearest_segment_idx + 1).lane_ids.at(0)) {
unique_lane_ids.insert(ll.id());
if (ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0)) {
nearest_lane_id = ll.id();
return nearest_lane_id;
}
}

// if the lane_id of nearest_segment_idx does not involved in current_lanes,
// search the lane_id of nearest_segment_idx + 1
*nearest_segment_idx += 1;
for (const auto & ll : current_lanes) {
if (ll.id() == path.points.at(*nearest_segment_idx).lane_ids.at(0)) {
nearest_lane_id = ll.id();
return nearest_lane_id;
}
}
}
return boost::none;
}

std::vector<lanelet::ConstLanelet> getLaneletsOnPath(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const lanelet::LaneletMapPtr lanelet_map, const geometry_msgs::msg::Pose & current_pose)
{
boost::optional<size_t> nearest_segment_idx;
const auto nearest_lane_id =
getNearestLaneId(path, lanelet_map, current_pose, nearest_segment_idx);

std::vector<int64_t> unique_lane_ids;
if (nearest_lane_id) {
unique_lane_ids.emplace_back(*nearest_lane_id);
}

// Add forward path lane_id
const size_t start_idx = *nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
const size_t start_idx = nearest_segment_idx ? *nearest_segment_idx + 1 : 0;
for (size_t i = start_idx; i < path.points.size(); i++) {
unique_lane_ids.insert(
path.points.at(i).lane_ids.at(0)); // should we iterate ids? keep as it was.
const int64_t lane_id = path.points.at(i).lane_ids.at(0);
if (
std::find(unique_lane_ids.begin(), unique_lane_ids.end(), lane_id) == unique_lane_ids.end()) {
unique_lane_ids.emplace_back(lane_id);
}
}

std::vector<lanelet::ConstLanelet> lanelets;
Expand Down