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feat(autoware_trajectory): change default value of min_points #9315

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Nov 13, 2024
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feat(autoware_trajectory): change default value of min_points #9315

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2 changes: 1 addition & 1 deletion common/autoware_trajectory/include/autoware/trajectory/path_point.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class Trajectory<autoware_planning_msgs::msg::PathPoint>
* @param min_points Minimum number of points
* @return Vector of points
*/
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 100) const;
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 4) const;

class Builder
{
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2 changes: 1 addition & 1 deletion common/autoware_trajectory/include/autoware/trajectory/path_point_with_lane_id.hpp
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Expand Up @@ -58,7 +58,7 @@ class Trajectory<tier4_planning_msgs::msg::PathPointWithLaneId>
* @param min_points Minimum number of points
* @return Vector of points
*/
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 100) const;
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 4) const;

class Builder
{
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2 changes: 1 addition & 1 deletion common/autoware_trajectory/include/autoware/trajectory/point.hpp
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Expand Up @@ -122,7 +122,7 @@
using trajectory::detail::to_point;
Eigen::Vector2d point(to_point(p).x, to_point(p).y);
std::vector<double> distances_from_segments;
std::vector<double> lengthes_from_start_points;

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auto axis = detail::crop_bases(bases_, start_, end_);

Expand All @@ -149,7 +149,7 @@
}
if (constraints(length_from_start_point)) {
distances_from_segments.push_back(distance_from_segment);
lengthes_from_start_points.push_back(length_from_start_point);

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}
}
if (distances_from_segments.empty()) {
Expand All @@ -158,7 +158,7 @@

auto min_it = std::min_element(distances_from_segments.begin(), distances_from_segments.end());

return lengthes_from_start_points[std::distance(distances_from_segments.begin(), min_it)] -

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start_;
}

Expand Down Expand Up @@ -244,7 +244,7 @@
* @param min_points Minimum number of points
* @return Vector of points
*/
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 100) const;
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 4) const;

void crop(const double & start, const double & length);

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2 changes: 1 addition & 1 deletion common/autoware_trajectory/include/autoware/trajectory/pose.hpp
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Expand Up @@ -56,7 +56,7 @@ class Trajectory<geometry_msgs::msg::Pose> : public Trajectory<geometry_msgs::ms
* @brief Restore the trajectory poses
* @return Vector of poses
*/
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 100) const;
[[nodiscard]] std::vector<PointType> restore(const size_t & min_points = 4) const;

/**
* @brief Align the orientation with the direction
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