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fix(obstacle_avoidance_planner): fix drivable area checker #2639
fix(obstacle_avoidance_planner): fix drivable area checker #2639
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Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
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LGTM
Codecov ReportBase: 11.39% // Head: 12.18% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2639 +/- ##
==========================================
+ Coverage 11.39% 12.18% +0.79%
==========================================
Files 1279 1179 -100
Lines 89170 83565 -5605
Branches 23587 23676 +89
==========================================
+ Hits 10161 10185 +24
+ Misses 68239 62597 -5642
- Partials 10770 10783 +13
*This pull request uses carry forward flags. Click here to find out more. Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. ☔ View full report at Codecov. |
…oundation#2639) * fix(obstacle_avoidance_planner): fix drivable area checker Signed-off-by: yutaka <[email protected]> * fix format Signed-off-by: yutaka <[email protected]> Signed-off-by: yutaka <[email protected]>
…oundation#2639) (#243) * fix(obstacle_avoidance_planner): fix drivable area checker Signed-off-by: yutaka <[email protected]> * fix format Signed-off-by: yutaka <[email protected]> Signed-off-by: yutaka <[email protected]> Signed-off-by: yutaka <[email protected]> Co-authored-by: Yutaka Shimizu <[email protected]>
Description
Currently, the obstacle avoidance planner checks if the footprint of the vehicle is outside of the drivable area by lateral distance from the left and right boundary. However, this method does not work well when the boundary is not straight. In this PR, I use the polygon instead of the line to check if the footprint is outside of the drivable area.
For example, in the following scene, the trajectory point will be judged outside of the drivable area even though it is inside of it. This is because it uses the line created by point0 and point1, so the trajectory point is judged to be located right side of the line.
Related links
Inernal Test Result 821/825
Tests performed
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