feat(lane departure check,start planner): update lane departure check (cherry pick 8bdb5422c68 and 0042c2086d9) #1220
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… lanes for bvspm (autowarefoundation#6366) * WIP add new methods for lane departure checker Signed-off-by: Daniel Sanchez <[email protected]> * add lanelet polygon check for lane departure Signed-off-by: Daniel Sanchez <[email protected]> * use new checkPathWillLeaveLane function Signed-off-by: Daniel Sanchez <[email protected]> * working solution, fix union bug Signed-off-by: Daniel Sanchez <[email protected]> * Add check fo backwards path Signed-off-by: Daniel Sanchez <[email protected]> * delete departure check lanes Signed-off-by: Daniel Sanchez <[email protected]> * add lane departure check to geometric pullout Signed-off-by: Daniel Sanchez <[email protected]> * merge all union polygon Signed-off-by: kyoichi-sugahara <[email protected]> * pre-commit changes Signed-off-by: Daniel Sanchez <[email protected]> * move the cheap/fast check first to possibly boost performance Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: kyoichi-sugahara <[email protected]>
Signed-off-by: Daniel Sanchez <[email protected]>
…n#6588) * fix union sometimes returning empty polygon Signed-off-by: Daniel Sanchez <[email protected]> * fix union of polygons Signed-off-by: Daniel Sanchez <[email protected]> * fix back launcher Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
Signed-off-by: Daniel Sanchez <[email protected]>
Signed-off-by: Daniel Sanchez <[email protected]>
danielsanchezaran
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kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
TomohitoAndo,
tkimura4,
rej55,
soblin,
maxime-clem,
TakaHoribe,
takayuki5168,
zulfaqar-azmi-t4 and
mkuri
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Description
(cherry pick 8bdb542 and 0042c20) to solve https://tier4.atlassian.net/browse/RT0-31009
Related links
Tests performed
Notes for reviewers
After this is merged, lane departure check should be enabled by default: https://github.com/tier4/autoware_launch.x2/pull/610/files
Interface changes
Effects on system behavior
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