fix(autonomous_emergency_braking): aeb strange mpc polygon #7740
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Signed-off-by: Daniel Sanchez <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #7740 +/- ##
==========================================
- Coverage 15.09% 0.00% -15.10%
==========================================
Files 1967 118 -1849
Lines 135941 12777 -123164
Branches 42122 1379 -40743
==========================================
- Hits 20520 0 -20520
+ Misses 92700 12777 -79923
+ Partials 22721 0 -22721
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…oundation#7740) change resize to reserve Signed-off-by: Daniel Sanchez <[email protected]>
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…oundation#7740) change resize to reserve Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: palas21 <[email protected]>
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…oundation#7740) change resize to reserve Signed-off-by: Daniel Sanchez <[email protected]>
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change resize to reserve Signed-off-by: Daniel Sanchez <[email protected]>
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…oundation#7740) change resize to reserve Signed-off-by: Daniel Sanchez <[email protected]>
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Description
Due to the use of resize() the path vector generates a vector full of path points with position x:0 y:0 z:0 . This causes the AEB module to generate a wrong polygon path (because the last path poses are located at the base link).
This PR fixes the issue by doing reserve() instead, which seems like the original intention of the original commit.
Related links
Parent Issue:
How was this PR tested?
Before:
The polygon is disjointed and an NPC is wrongly detected as an obstacle.
After:
The polygons are correct and no collision is detected!
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.