feat(goal_planner): sort goal candidates by weighted distance

[kosuke55]

Description

sort goal candidates priority by weighted distance

Related links

Tests performed

psim

2023/09/26 https://evaluation.tier4.jp/evaluation/reports/a2e2c74e-2ea8-5f80-80ec-80b1e801e584/?project_id=prd_jt

Notes for reviewers

Interface changes

none

Effects on system behavior

none

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: 94 lines in your changes are missing coverage. Please review.

Comparison is base (ec99b2f) 15.02% compared to head (e606546) 14.95%.
Report is 22 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5110      +/-   ##
==========================================
- Coverage   15.02%   14.95%   -0.08%     
==========================================
  Files        1608     1608              
  Lines      111740   112641     +901     
  Branches    34645    35336     +691     
==========================================
+ Hits        16788    16841      +53     
- Misses      76244    77008     +764     
- Partials    18708    18792      +84     

Flag	Coverage Δ		*Carryforward flag
differential	12.58% <0.00%> (?)
total	15.00% <13.09%> (-0.03%)	⬇️	Carriedforward from 1db5fc0

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	67.09% <ø> (+0.06%)	⬆️
...planning_rviz_plugin/include/path/display_base.hpp	0.00% <ø> (ø)
...dinal_controller/longitudinal_controller_utils.hpp	35.00% <ø> (ø)
...tudinal_controller/pid_longitudinal_controller.hpp	28.57% <ø> (ø)
...roller/test/test_longitudinal_controller_utils.cpp	51.20% <ø> (-1.75%)	⬇️
..._planner/utils/goal_planner/goal_searcher_base.hpp	25.00% <ø> (+12.50%)	⬆️
...planner/src/utils/goal_planner/shift_pull_over.cpp	3.57% <ø> (+0.03%)	⬆️
...nner/src/utils/start_goal_planner_common/utils.cpp	30.76% <ø> (+3.74%)	⬆️
...planner/src/utils/start_planner/shift_pull_out.cpp	2.51% <ø> (+0.01%)	⬆️
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)
... and 16 more

... and 7 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[kyoichi-sugahara]

[NITS]
If my understanding is correct, comments below is easier to understand for me.
Sort with the weighted sum of the longitudinal distance and the lateral distance weighted by lateral_cost.

[kosuke55]

thanks! it is better! fixed in e6f3068

[kyoichi-sugahara]

LGTM!