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feat(behavior_path_planner): update resampling function #1517
feat(behavior_path_planner): update resampling function #1517
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Signed-off-by: yutaka <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #1517 +/- ##
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- Coverage 10.57% 10.54% -0.04%
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Files 1113 1113
Lines 78486 79423 +937
Branches 18339 19016 +677
==========================================
+ Hits 8302 8377 +75
- Misses 61522 62302 +780
- Partials 8662 8744 +82
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I confirmed that the bug that behavior modules such as intersection chatter was fixed by this PR. |
resampled_path.points.push_back(p); | ||
} | ||
constexpr double epsilon = 0.01; | ||
const auto has_almost_same_value = [&](const auto & vec, const auto x) { |
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@purewater0901
[Q] how was almost_same_value(point) handled in behavior path planner previously?
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They previously do not sample input points, so it does not handle duplicated points
Since the number of failures are increasing when including this PR, please do not approve this PR until we find the problem |
Signed-off-by: yutaka <[email protected]>
…ath-resampling-function
* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
…dation#1517) * feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
…dation#1517) * feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>
…dation#1517) * # This is a combination of 3 commits. # This is the 1st commit message: change processing_time_ms topic name Signed-off-by: Autumn60 <[email protected]> # This is the commit message autowarefoundation#2: style(pre-commit): autofix # This is the commit message autowarefoundation#3: Revert "style(pre-commit): autofix" This reverts commit 1dc1351. * change processing_time_ms topic name Signed-off-by: Autumn60 <[email protected]> style(pre-commit): autofix Revert "style(pre-commit): autofix" This reverts commit 1dc1351. Revert "change processing_time_ms topic name" This reverts commit 6f026f8. change processing_time_ms diag topic name Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: yutaka [email protected]
Description
Use resampling functions from motion utils and also resample input points. Currently, resample functions in the behavior path planner do not resample input path points, and due to this problem, it sometimes samples points without lanes in the input path when the sampling interval is large.
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