feat(planning_evaluator): add modified goal deviation #3053
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Signed-off-by: kosuke55 <[email protected]>
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Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
| @@ -77,5 +77,26 @@ Stat<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr | |||
| return stat; | |||
| } | |||
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| Stat<double> calcPoseLongitudinalDeviation(const Pose & base_pose, const Pose & target_pose) | |||
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const Pose & target_pose
can be replaced with
const Point & target_point?
if direction of target_pose is not used.
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thanks, fixed in 31c8b82
| if (!metric_stat) { | ||
| continue; | ||
| } | ||
| metric_stats_[static_cast<size_t>(metric)].push_back(*metric_stat); |
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TODO(sugahara)
fix memory leak
| if (!ego_state_ptr_) { | ||
| return; | ||
| } | ||
|
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| auto start = now(); | ||
| stamps_.push_back(traj_msg->header.stamp); |
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TODO(suaghara)
fix memory leak
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #3053 +/- ##
==========================================
+ Coverage 11.95% 12.00% +0.04%
==========================================
Files 1324 1324
Lines 92115 92198 +83
Branches 24627 24664 +37
==========================================
+ Hits 11011 11064 +53
+ Misses 69691 69688 -3
- Partials 11413 11446 +33
*This pull request uses carry forward flags. Click here to find out more.
... and 1 file with indirect coverage changes 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 in Codecov by Sentry. |
|
fix and add tests in 6d3b9e3. checked it passed |
kosuke55
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Mar 16, 2023
…tion#3053) * feat(planning_evaluator): add modified goal deviation Signed-off-by: kosuke55 <[email protected]> * add abs Signed-off-by: kosuke55 <[email protected]> * remove setModifiedGoal Signed-off-by: kosuke55 <[email protected]> * use Point and rename func Signed-off-by: kosuke55 <[email protected]> * fix func docs Signed-off-by: kosuke55 <[email protected]> * fix and add tests Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
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satoshi-ota
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Jun 20, 2023
…tion#3053) * feat(planning_evaluator): add modified goal deviation Signed-off-by: kosuke55 <[email protected]> * add abs Signed-off-by: kosuke55 <[email protected]> * remove setModifiedGoal Signed-off-by: kosuke55 <[email protected]> * use Point and rename func Signed-off-by: kosuke55 <[email protected]> * fix func docs Signed-off-by: kosuke55 <[email protected]> * fix and add tests Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
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Description
Add metrics of deviation from the modified goal pose
Related links
Tests performed
TIER IV internal scenario test
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