-
Notifications
You must be signed in to change notification settings - Fork 665
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
feat(drivable area expansion): do not over expand beyond the desired width #5640
feat(drivable area expansion): do not over expand beyond the desired width #5640
Conversation
planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
Outdated
Show resolved
Hide resolved
...path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
Outdated
Show resolved
Hide resolved
27933fd
to
59685d8
Compare
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5640 +/- ##
========================================
Coverage 15.28% 15.28%
========================================
Files 1750 1750
Lines 120435 120784 +349
Branches 36731 36945 +214
========================================
+ Hits 18405 18460 +55
- Misses 81378 81638 +260
- Partials 20652 20686 +34
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
59685d8
to
576e947
Compare
...clude/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp
Outdated
Show resolved
Hide resolved
...ommon/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp
Show resolved
Hide resolved
...g/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
Outdated
Show resolved
Hide resolved
...g/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
Outdated
Show resolved
Hide resolved
...g/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
Outdated
Show resolved
Hide resolved
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Thank you very much for this PR!
In general LGTM. The logic might be a little hard to follow when using the mapping indexes, so if you can put one or two comments in key places to explain the code it would be good, but not necessary. I leave it to your discretion.
...g/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
Outdated
Show resolved
Hide resolved
planning/behavior_path_planner_common/test/test_drivable_area_expansion.cpp
Show resolved
Hide resolved
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
…th range Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
576e947
to
84fee4e
Compare
@danielsanchezaran thank you for your review. I addressed all comments. |
…width (autowarefoundation#5640) Signed-off-by: Maxime CLEMENT <[email protected]>
…width (autowarefoundation#5640) Signed-off-by: Maxime CLEMENT <[email protected]>
…width (autowarefoundation#5640) Signed-off-by: Maxime CLEMENT <[email protected]>
…width (autowarefoundation#5640) Signed-off-by: Maxime CLEMENT <[email protected]>
…width (autowarefoundation#5640) Signed-off-by: Maxime CLEMENT <[email protected]>
Description
This PR improves the calculations of the drivable area expansion. Previously, the left and right bounds were expanded independently. With this PR, they are expanded together such that the resulting drivable area width is more accurately equals to the desired width.
Required launch PR: autowarefoundation/autoware_launch#755
Tests performed
Psim
Evaluator (TIER IV INTERNAL LINK):
Effects on system behavior
drivable area expansion more accurately achieve the desired minimum width.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.