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retrieve and use map stop lines in out of lane (not working)
Signed-off-by: Maxime CLEMENT <[email protected]>
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87
...ning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp
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| // Copyright 2024 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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|
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| #include <autoware/motion_utils/trajectory/interpolation.hpp> | ||
| #include <autoware/motion_utils/trajectory/trajectory.hpp> | ||
| #include <autoware/motion_velocity_planner_common/planner_data.hpp> | ||
| #include <autoware/universe_utils/geometry/boost_geometry.hpp> | ||
| #include <autoware/universe_utils/geometry/geometry.hpp> | ||
| #include <autoware_lanelet2_extension/utility/query.hpp> | ||
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| #include <boost/geometry.hpp> | ||
| #include <boost/geometry/algorithms/envelope.hpp> | ||
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| #include <lanelet2_core/geometry/BoundingBox.h> | ||
| #include <lanelet2_core/geometry/LineString.h> | ||
| #include <lanelet2_core/primitives/BoundingBox.h> | ||
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| namespace autoware::motion_velocity_planner | ||
| { | ||
| std::optional<TrafficSignalStamped> PlannerData::get_traffic_signal( | ||
| const lanelet::Id id, const bool keep_last_observation) const | ||
| { | ||
| const auto & traffic_light_id_map = | ||
| keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; | ||
| if (traffic_light_id_map.count(id) == 0) { | ||
| return std::nullopt; | ||
| } | ||
| return std::make_optional<TrafficSignalStamped>(traffic_light_id_map.at(id)); | ||
| } | ||
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| std::optional<double> PlannerData::calculate_min_deceleration_distance( | ||
| const double target_velocity) const | ||
| { | ||
| return motion_utils::calcDecelDistWithJerkAndAccConstraints( | ||
| current_odometry.twist.twist.linear.x, target_velocity, | ||
| current_acceleration.accel.accel.linear.x, velocity_smoother_->getMinDecel(), | ||
| std::abs(velocity_smoother_->getMinJerk()), velocity_smoother_->getMinJerk()); | ||
| } | ||
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| std::vector<StopPoint> PlannerData::calculate_map_stop_points( | ||
| const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & trajectory) const | ||
| { | ||
| std::vector<StopPoint> stop_points; | ||
| if (!route_handler) { | ||
| return stop_points; | ||
| } | ||
| universe_utils::LineString2d trajectory_ls; | ||
| for (const auto & p : trajectory) { | ||
| trajectory_ls.emplace_back(p.pose.position.x, p.pose.position.y); | ||
| } | ||
| const auto candidates = route_handler->getLaneletMapPtr()->laneletLayer.search( | ||
| boost::geometry::return_envelope<lanelet::BoundingBox2d>(trajectory_ls)); | ||
| for (const auto & candidate : candidates) { | ||
| const auto stop_lines = lanelet::utils::query::stopLinesLanelet(candidate); | ||
| for (const auto & stop_line : stop_lines) { | ||
| const auto stop_line_2d = lanelet::utils::to2D(stop_line).basicLineString(); | ||
| universe_utils::MultiPoint2d intersections; | ||
| boost::geometry::intersection(trajectory_ls, stop_line_2d, intersections); | ||
| for (const auto & intersection : intersections) { | ||
| const auto p = | ||
| geometry_msgs::msg::Point().set__x(intersection.x()).set__y(intersection.y()); | ||
| const auto stop_line_arc_length = motion_utils::calcSignedArcLength(trajectory, 0UL, p); | ||
| StopPoint sp; | ||
| sp.ego_trajectory_arc_length = stop_line_arc_length - vehicle_info_.front_overhang_m; | ||
| if (sp.ego_trajectory_arc_length < 0.0) { | ||
| continue; | ||
| } | ||
| sp.ego_stop_pose = | ||
| motion_utils::calcInterpolatedPose(trajectory, sp.ego_trajectory_arc_length); | ||
| stop_points.push_back(sp); | ||
| } | ||
| } | ||
| } | ||
| return stop_points; | ||
| } | ||
| } // namespace autoware::motion_velocity_planner |