Skip to content
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.

Sign up for GitHub

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(behavior_path_planner): (TEMPORARY) steering factor for lane change abort #1080

Closed
wants to merge 2 commits into from
Closed

feat(behavior_path_planner): (TEMPORARY) steering factor for lane change abort #1080

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
dafecd1
fix(behavior_path_planner): publish steering factor from scene module…
rej55 Dec 20, 2023
2fda827
feat(behavior_path_planner): add steering factor status for lane chan…
rej55 Dec 26, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion planning/behavior_path_lane_change_module/src/interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -369,10 +369,12 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o
const auto finish_distance = motion_utils::calcSignedArcLength(
output.path.points, current_position, status.lane_change_path.info.shift_line.end.position);

const auto factor_status = module_type_->isAbortState() ? uint16_t(100) : SteeringFactor::TURNING;

steering_factor_interface_ptr_->updateSteeringFactor(
{status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end},
{start_distance, finish_distance}, PlanningBehavior::LANE_CHANGE, steering_factor_direction,
SteeringFactor::TURNING, "");
factor_status, "");
}

void LaneChangeInterface::updateSteeringFactorPtr(
Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -286,6 +286,8 @@ class PlannerManager

module_ptr->publishRTCStatus();

module_ptr->publishSteeringFactor();

module_ptr->publishObjectsOfInterestMarker();

processing_time_.at(module_ptr->name()) += stop_watch_.toc(module_ptr->name(), true);
Expand Down
Loading