feat(path_generator): add path cut feature #216
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
kosuke55
force-pushed
the
feat/path_generator_path_cut
branch
from
977fa26 to
5315013
Compare
kosuke55
added
the
run:build-and-test-differential
kosuke55
commented
Feb 24, 2025
| std::optional<double> get_first_self_intersection_arc_length( | ||
| const lanelet::BasicLineString2d & line_string, const double s_start, const double s_end) | ||
| { | ||
| const auto tree = lanelet::geometry::internal::makeIndexedSegmenTree(line_string); |
There was a problem hiding this comment.
autowarefoundation/autoware-spell-check-dict#23
hmmmm, maybe this typo but there are lanelet::geometry::internal::makeIndexedSegmenTree in lanelet library
https://docs.ros.org/en/melodic/api/lanelet2_core/html/doxygen/namespacelanelet_1_1geometry_1_1internal.html#ad840f5e177f4f6a924b1422530ad99c0
There was a problem hiding this comment.
|
( until porting autoware_test_utils to core we can not add unit test ) |
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #216 +/- ##
==========================================
- Coverage 78.75% 0.00% -78.76%
==========================================
Files 11 86 +75
Lines 193 8587 +8394
Branches 73 863 +790
==========================================
- Hits 152 0 -152
- Misses 11 8587 +8576
+ Partials 30 0 -30
☔ View full report in Codecov by Sentry. |
kosuke55
force-pushed
the
feat/path_generator_path_cut
branch
from
5315013 to
b9dd1c4
Compare
kosuke55
requested review from
satoshi-ota,
takayuki5168 and
a team
as code owners
|
this PR has lanelet2 typo |
kosuke55
force-pushed
the
feat/path_generator_path_cut
branch
from
b9dd1c4 to
143364e
Compare
| * @return longitudinal distance of self-intersecting point (std::nullopt if no | ||
| * self-intersection) | ||
| */ | ||
| std::optional<double> get_first_self_intersection_arc_length( |
There was a problem hiding this comment.
Please update the README.
If time does not allow, it's acceptable to create another PR after this PR is merged.
takayuki5168
approved these changes
Feb 25, 2025
|
fix invalid link error of ci #221 |
add path_generator package Signed-off-by: mitukou1109 <mitukou1109@gmail.com> fix spell check error Signed-off-by: mitukou1109 <mitukou1109@gmail.com> include necessary headers Signed-off-by: mitukou1109 <mitukou1109@gmail.com> change package version to 0.0.0 Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: mitukou1109 <mitukou1109@gmail.com> fix include guard name Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: mitukou1109 <mitukou1109@gmail.com> replace flowchart uml with pre-generated image Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> Signed-off-by: mitukou1109 <mitukou1109@gmail.com> style(pre-commit): autofix Signed-off-by: mitukou1109 <mitukou1109@gmail.com> replace tier4_planning_msgs with autoware_internal_planning_msgs Signed-off-by: mitukou1109 <mitukou1109@gmail.com> style(pre-commit): autofix Signed-off-by: mitukou1109 <mitukou1109@gmail.com> use LaneletSequence instead of ConstLanelets Signed-off-by: mitukou1109 <mitukou1109@gmail.com> set orientation to path points Signed-off-by: mitukou1109 <mitukou1109@gmail.com> crop path bound to fit trajectory Signed-off-by: mitukou1109 <mitukou1109@gmail.com> offset path bound Signed-off-by: mitukou1109 <mitukou1109@gmail.com> no need to make return value optional Signed-off-by: mitukou1109 <mitukou1109@gmail.com> address deprecation warning Signed-off-by: mitukou1109 <mitukou1109@gmail.com> add doxygen comments Signed-off-by: mitukou1109 <mitukou1109@gmail.com> support multiple previous/next lanelets Signed-off-by: mitukou1109 <mitukou1109@gmail.com> fix path bound cut issue Signed-off-by: mitukou1109 <mitukou1109@gmail.com> group parameters Signed-off-by: mitukou1109 <mitukou1109@gmail.com> add path cut feature Signed-off-by: mitukou1109 <mitukou1109@gmail.com> ensure s_end is not negative Signed-off-by: mitukou1109 <mitukou1109@gmail.com> simplify return value selection Signed-off-by: mitukou1109 <mitukou1109@gmail.com> add doxygen comments Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55
force-pushed
the
feat/path_generator_path_cut
branch
from
fda6f36 to
828f56a
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
based on
mitukou1109#2, fix for latest main branch ( thanks @mitukou1109
This PR adds a feature to cut the path before the self-intersection to avoid incorrect neighbor search.
1 ) not cut if no self intersection
2 )
cut if self intersection
not cut after passing self intersection point
Related links
Parent Issue:
How was this PR tested?
Psim
Screencast.from.2025.02.07.15.33.28.webm
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.