fix(behavior_path_planner): pull over remove overlapping points #2246
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kosuke55
requested review from
rej55,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168,
tkimura4,
purewater0901 and
zulfaqar-azmi-t4
as code owners
Codecov ReportBase: 11.12% // Head: 11.17% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2246 +/- ##
==========================================
+ Coverage 11.12% 11.17% +0.04%
==========================================
Files 1200 1199 -1
Lines 86198 85845 -353
Branches 20793 20793
==========================================
Hits 9593 9593
+ Misses 66479 66126 -353
Partials 10126 10126
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| @@ -482,9 +482,12 @@ PathWithLaneId GeometricParallelParking::generateArcPath( | |||
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| // insert the last point exactly | |||
| const auto p = generateArcPathPoint(center, radius, end_yaw, is_left_turn, is_forward); | |||
| path.points.push_back(p); | |||
| constexpr double min_dist = 0.01; | |||
| if (calcDistance2d(path.points.back(), p) > min_dist) { | |||
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Do path.points.empty() check before using the path.points.back()
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thaks, fixed in 7ad01a0
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
HansRobo
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Dec 16, 2022
…warefoundation#2246) * fix(behavior_path_planner): pull over remove overlapping points Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * check empty Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
YoshiRi
pushed a commit
to YoshiRi/autoware.universe
that referenced
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Jan 11, 2023
…warefoundation#2246) * fix(behavior_path_planner): pull over remove overlapping points Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * check empty Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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Description
If giving a path point without lane id to removeOverlappingPoints, node dies by accessing lane_ids in https://github.com/autowarefoundation/autoware.universe/blob/feat/shift_pull_over_on_curve/planning/behavior_path_planner/src/utilities.cpp#L894
In this PR, I stoppped using this function, insert point by checking it is not overlapped.
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