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Improve arrival time predictions for lanes with speed limits #400

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Improve arrival time predictions for lanes with speed limits #400

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15 changes: 12 additions & 3 deletions rmf_fleet_adapter/src/rmf_fleet_adapter/agv/EasyFullControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1245,10 +1245,19 @@ void EasyCommandHandle::follow_new_path(
}

std::optional<double> speed_limit;
if (!wp1.approach_lanes().empty())
for (const auto arrival_lane : wp1.approach_lanes())
{
const auto arrival_lane = wp1.approach_lanes().back();
speed_limit = graph.get_lane(arrival_lane).properties().speed_limit();
if (const auto lane_speed_limit = graph.get_lane(arrival_lane).properties().speed_limit())
{
if (!speed_limit.has_value())
{
speed_limit = lane_speed_limit;
}
else if (*lane_speed_limit < *speed_limit)
{
speed_limit = lane_speed_limit;
}
}
}

Eigen::Vector3d target_position = wp1.position();
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