feat(start_planner): define ignore section separately #6219
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Signed-off-by: kyoichi-sugahara <[email protected]>
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planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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| std::map<PlannerType, double> collision_check_distances = { | ||
| {PlannerType::SHIFT, parameters_->shift_collision_check_distance_from_end}, | ||
| {PlannerType::GEOMETRIC, parameters_->geometric_collision_check_distance_from_end}}; |
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(nits: this is duplicated process, maybe it is also good have as member)
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ah
define map as member variable you mean?
I agree
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yes because this map is like a parameter
…module.cpp Co-authored-by: Kosuke Takeuchi <[email protected]>
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Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6219 +/- ##
==========================================
- Coverage 14.40% 14.40% -0.01%
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Files 1906 1906
Lines 129839 129845 +6
Branches 37571 37571
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Hits 18699 18699
- Misses 90146 90152 +6
Partials 20994 20994
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…tion#6219) * Update collision check distances in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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…tion#6219) * Update collision check distances in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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…tion#6219) * Update collision check distances in start planner module Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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Description
launcher PR should be merged first
In this PR, apply same offset colission check section for shift/geometric pull out path.
But path length is different and
So in this PR, define
shift_collision_check_distance_from_endfor shift pull out pathgeometric_collision_check_distance_from_endfor geometric pull out path.Tests performed
With following default parameter, I confirmed collision check end pose is offset to shift pull out path but not to geometric pull out path.
geometric_collision_check_distance_from_end = 0.0
shift_collision_check_distance_from_end = -10.0
Effects on system behavior
Not applicable.
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