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fix(crosswalk): fix passing direction calclation for the objects #9071

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Oct 11, 2024
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fix(crosswalk): fix passing direction calclation for the objects #9071

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33 changes: 13 additions & 20 deletions ...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2020-2023 Tier IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1086 to 1081, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

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✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 6.05 to 6.00, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -353,13 +353,16 @@
if (collision_state != CollisionState::YIELD) {
continue;
}

if (
isVehicleType(object.classification) && ego_crosswalk_passage_direction &&
collision_point.crosswalk_passage_direction) {
const double direction_diff = autoware::universe_utils::normalizeRadian(
double direction_diff = std::abs(std::fmod(

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collision_point.crosswalk_passage_direction.value() -
ego_crosswalk_passage_direction.value());
if (std::fabs(direction_diff) < planner_param_.vehicle_object_cross_angle_threshold) {
ego_crosswalk_passage_direction.value(),
M_PI_2));

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direction_diff = std::min(direction_diff, M_PI_2 - direction_diff);
if (direction_diff < planner_param_.vehicle_object_cross_angle_threshold) {
continue;
}
}
Expand Down Expand Up @@ -670,8 +673,8 @@
std::optional<double> CrosswalkModule::findEgoPassageDirectionAlongPath(
const PathWithLaneId & path) const
{
auto findIntersectPoint = [&](const lanelet::ConstLineString3d line)
-> std::optional<std::pair<size_t, geometry_msgs::msg::Point>> {
auto findIntersectPoint =
[&](const lanelet::ConstLineString3d line) -> std::optional<geometry_msgs::msg::Point> {

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const auto line_start =
autoware::universe_utils::createPoint(line.front().x(), line.front().y(), line.front().z());
const auto line_end =
Expand All @@ -682,29 +685,19 @@
if (const auto intersect =
autoware::universe_utils::intersect(line_start, line_end, start, end);
intersect.has_value()) {
return std::make_optional(std::make_pair(i, intersect.value()));
return intersect;

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}
}
return std::nullopt;
};
const auto intersect_pt1 = findIntersectPoint(crosswalk_.leftBound());
const auto intersect_pt2 = findIntersectPoint(crosswalk_.rightBound());
const auto pt1 = findIntersectPoint(crosswalk_.leftBound());
const auto pt2 = findIntersectPoint(crosswalk_.rightBound());

if (!intersect_pt1 || !intersect_pt2) {
if (!pt1 || !pt2) {
return std::nullopt;
}

const auto idx1 = intersect_pt1.value().first;
const auto idx2 = intersect_pt2.value().first;

const auto min_idx = std::min(idx1, idx2);
const auto dist1 = calcSignedArcLength(path.points, min_idx, intersect_pt1.value().second);
const auto dist2 = calcSignedArcLength(path.points, min_idx, intersect_pt2.value().second);

const auto & front = dist1 > dist2 ? intersect_pt2.value().second : intersect_pt1.value().second;
const auto & back = dist1 > dist2 ? intersect_pt1.value().second : intersect_pt2.value().second;

return std::atan2(back.y - front.y, back.x - front.x);
return std::atan2(pt2->y - pt1->y, pt2->x - pt1->x);

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}

std::optional<double> CrosswalkModule::findObjectPassageDirectionAlongVehicleLane(
Expand Down
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