feat(goal_planner): expand outer collision check margin #10294
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kosuke55
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10294 +/- ##
==========================================
- Coverage 26.04% 26.01% -0.03%
==========================================
Files 1375 1375
Lines 106439 106561 +122
Branches 40902 40951 +49
==========================================
Hits 27723 27723
- Misses 76011 76132 +121
- Partials 2705 2706 +1
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soblin
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Mar 21, 2025
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Description
add factor to extend the collision check margin from the inside margin to the outside in the curved path.
outer side is determined by sign of curvature
kbefore
after
blue footrpint polygon is collision check margin. at least we can keep this margin for final selected path.
Related links
teir4 internal ticket: https://tier4.atlassian.net/browse/RT1-8880
Parent Issue:
How was this PR tested?
psim + reproducer
RT1-8880-2025-03-18_14.31.47.mp4
evaluator with #10296 (wip
2025/03/18 https://evaluation.tier4.jp/evaluation/reports/1b19167d-1f34-5b84-99cb-d44585c4fd24/?project_id=prd_jt
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.