print average curvature

zulfaqar-azmi-t4 · zulfaqar-azmi-t4 · commit d99d3850f07a · 2024-12-27T09:36:35.000+09:00
Signed-off-by: Zulfaqar Azmi &lt;zulfaqar.azmi@tier4.jp&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp
@@ -291,8 +291,10 @@ bool get_prepare_segment(
     curvatures.push_back(autoware::universe_utils::calcCurvature(point1, point2, point3));
   }
 
-  return calc_average_curvature(curvatures) <=
-         common_data_ptr->lc_param_ptr->trajectory.th_prepare_curvature;
+  const auto average_curvature = calc_average_curvature(curvatures);
+
+  RCLCPP_DEBUG(get_logger(), "average curvature: %.3f", average_curvature);
+  return average_curvature <= common_data_ptr->lc_param_ptr->trajectory.th_prepare_curvature;
 }
 
 LaneChangePath get_candidate_path(

Original file line number	Diff line number	Diff line change
`@@ -291,8 +291,10 @@ bool get_prepare_segment(`
`291`	`291`	`curvatures.push_back(autoware::universe_utils::calcCurvature(point1, point2, point3));`
`292`	`292`	`}`
`293`	`293`
`294`		`- return calc_average_curvature(curvatures) <=`
`295`		`- common_data_ptr->lc_param_ptr->trajectory.th_prepare_curvature;`
	`294`	`+ const auto average_curvature = calc_average_curvature(curvatures);`
	`295`	`+`
	`296`	`+ RCLCPP_DEBUG(get_logger(), "average curvature: %.3f", average_curvature);`
	`297`	`+ return average_curvature <= common_data_ptr->lc_param_ptr->trajectory.th_prepare_curvature;`
`296`	`298`	`}`
`297`	`299`
`298`	`300`	`LaneChangePath get_candidate_path(`