feat(trajectory): add pretty_build() function for Planning/Control component node #332
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soblin
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run:build-and-test-differential
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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yhisaki
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| // limitations under the License. | ||
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| #include "autoware/trajectory/utils/pretty_trajectory.hpp" | ||
| #include "autoware_utils_geometry/geometry.hpp" |
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| #include "autoware_utils_geometry/geometry.hpp" | |
| #include <autoware_utils_geometry/geometry.hpp> |
| #include "autoware/trajectory/interpolator/spherical_linear.hpp" | ||
| #include "autoware/trajectory/path_point_with_lane_id.hpp" | ||
| #include "autoware/trajectory/trajectory_point.hpp" | ||
| #include "autoware_utils_geometry/geometry.hpp" |
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| #include "autoware_utils_geometry/geometry.hpp" | |
| #include <autoware_utils_geometry/geometry.hpp> |
| @@ -15,6 +15,8 @@ | |||
| #include "autoware/trajectory/utils/closest.hpp" | |||
| #include "autoware/trajectory/utils/crossed.hpp" | |||
| #include "autoware/trajectory/utils/curvature_utils.hpp" | |||
| #include "autoware/trajectory/utils/pretty_trajectory.hpp" | |||
| #include "autoware_utils_geometry/geometry.hpp" | |||
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| #include "autoware_utils_geometry/geometry.hpp" | |
| #include <autoware_utils_geometry/geometry.hpp> |
youtalk
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| const auto & interpolation = input3_interpolation_result.value(); | ||
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| const auto new_bases = insert_middle_into_largest_interval(interpolation.get_internal_bases()); |
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| const auto new_bases = insert_middle_into_largest_interval(interpolation.get_internal_bases()); | |
| const auto new_bases = insert_middle_into_largest_interval(interpolation.get_underlying_bases()); |
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #332 +/- ##
===========================================
- Coverage 78.75% 22.15% -56.61%
===========================================
Files 11 150 +139
Lines 193 9399 +9206
Branches 73 2137 +2064
===========================================
+ Hits 152 2082 +1930
- Misses 11 7074 +7063
- Partials 30 243 +213
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…mponent node (autowarefoundation#332) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Description
Added
pretty_trajectoryfunction that will be used in most of the Planning/Control component's node entry point.Related links
#322
How was this PR tested?
test passes and coverage is 89.8%
Notes for reviewers
None.
Interface changes
Add following functions
pretty_trajectoryTopic changes
Additions and removals
/topic_namestd_msgs/StringModifications
/old_topic_namesensor_msgs/Image/new_topic_namesensor_msgs/ImageROS Parameter Changes
Additions and removals
param_namedouble1.0Modifications
old_param_namedouble1.0new_param_namedouble1.0🔴⬆️ -->
Effects on system behavior
None.