feat(behavior_velocity): consider dynamic object #9
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…owarefoundation#591) * sync rc rc/v1.7.1 (autowarefoundation#2345) * add behavior_path_rviz_plugin (autowarefoundation#2343) * add behavior_path_rviz_plugin * edit README * fix for uncrustify * fix include guard * use autoware_lint_common Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Revert "use autoware_lint_common" This reverts commit 98c264d5f32d88fb19cd7953fc64a2052648af29. * fix for cpplint Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Fix format Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(tier4_planning_rviz_plugin): add PathWithLaneId rviz plugin Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
…-position (autowarefoundation#588) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
* feat!: add blockage diagnostic Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: add documentation Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add adjustable param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * feat!: add blockage diagnostic Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: add documentation Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * fix: typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: add adjustable param Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * ci(pre-commit): autofix * chore: rearrange header file Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: rearrange header Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: revert accident change Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: fix typo Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * docs: add limits Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: check overflow Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…oundation#593) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…arefoundation#574) * parametrize avoidance target type Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * add target type parameter in yaml Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * mototbike -> motorcycle Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * apply clang Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
…ugin (autowarefoundation#594) * feat(tier4_planning_rviz_plugin): add PathWithLaneIdFootprint rviz plugin Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* refactor(behavior_velocity): refactor codes Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor(behavior_velocity): fix typo Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor(behavior_velocity): refactor debuggings Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor(behavior_velocity): unite to generate Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * refactor(behavior_velocity): apply clang tidy Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): retun to default settting Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
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| template <> | ||
| inline void doTransform( |
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function template specialization tf2::doTransform<geometry_msgs::msg::Point_<std::allocator<void> > > has a primary template declaration with different parameter names
| boost::optional<Polygon2d> generateOccupiedPolygon( | ||
| const Polygon2d & occupancy_poly, const Polygon2d & foot_print, const Point & position); | ||
| //!< @brief generate occupied polygon from foot print | ||
| void generateOccupiedImage( |
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function behavior_velocity_planner::grid_utils::generateOccupiedImage has a definition with different parameter names
| origin, {ray_max_length * std::cos(max_theta), ray_max_length * std::sin(max_theta)}}; | ||
| Polygon2d occlusion_poly; | ||
| occlusion_poly.outer() = {min_theta_pos, max_theta_pos}; | ||
| std::vector<Point2d> min_intersections, max_intersections; |
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multiple declarations in a single statement reduces readability
Suggested change
| std::vector<Point2d> min_intersections, max_intersections; | |
| std::vector<Point2d> min_intersections; | |
| std::vector<Point2d> max_intersections; |
| constexpr uint8_t free_space = occlusion_cost_value::FREE_SPACE; | ||
| constexpr uint8_t occupied_space = occlusion_cost_value::OCCUPIED_IMAGE; | ||
| // get transform | ||
| tf2::Stamped<tf2::Transform> tf_grid2map, tf_map2grid; |
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multiple declarations in a single statement reduces readability
Suggested change
| tf2::Stamped<tf2::Transform> tf_grid2map, tf_map2grid; | |
| tf2::Stamped<tf2::Transform> tf_grid2map; | |
| tf2::Stamped<tf2::Transform> tf_map2grid; |
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| // convert lane polygons into cv type | ||
| cv::Mat cv_image( | ||
| occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1, cv::Scalar(free_space)); |
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use of a signed integer operand with a binary bitwise operator
| // std::cout << "tra: " << transformed_geom_pt.x << " , " << transformed_geom_pt.y << std::endl; | ||
| } | ||
| cv::Mat local_image( | ||
| occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1, cv::Scalar(free_space)); |
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use of a signed integer operand with a binary bitwise operator
| { | ||
| const auto & label = obj.classification.at(0).label; | ||
| if ( |
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redundant boolean literal in conditional return statement
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| if ( | |
| return label == ObjectClassification::CAR || label == ObjectClassification::TRUCK || | |
| label == ObjectClassification::BUS || label == ObjectClassification::TRAILER |
| points.emplace_back(p); | ||
| if (!isVehicle(obj)) return false; | ||
| const auto & obj_vel = obj.kinematics.initial_twist_with_covariance.twist.linear.x; | ||
| if (std::abs(obj_vel) > min_vel) return false; |
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redundant boolean literal in conditional return statement
Suggested change
| if (std::abs(obj_vel) > min_vel) return false; | |
| return std::abs(obj_vel) <= min_vel |
| return true; | ||
| } | ||
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| bool isMovingVehicle(PredictedObject obj, const double min_vel) |
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the parameter obj is copied for each invocation but only used as a const reference; consider making it a const reference
Suggested change
| bool isMovingVehicle(PredictedObject obj, const double min_vel) | |
| bool isMovingVehicle(const PredictedObject obj, const double min_vel) |
| return true; | ||
| } | ||
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| bool isMovingVehicle(PredictedObject obj, const double min_vel) |
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the parameter obj is copied for each invocation but only used as a const reference; consider making it a const reference
Suggested change
| bool isMovingVehicle(PredictedObject obj, const double min_vel) | |
| bool isMovingVehicle(PredictedObject& obj, const double min_vel) |
| { | ||
| if (!isVehicle(obj)) return false; | ||
| const auto & obj_vel = obj.kinematics.initial_twist_with_covariance.twist.linear.x; | ||
| if (std::abs(obj_vel) > min_vel) return false; |
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redundant boolean literal in conditional return statement
Suggested change
| if (std::abs(obj_vel) > min_vel) return false; | |
| return std::abs(obj_vel) <= min_vel |
| if (enable) RCLCPP_INFO_STREAM_THROTTLE(logger_, *clock_, 3000, x); | ||
| #define DEBUG_PRINT(enable, n, x) \ | ||
| if (enable) { \ | ||
| const std::string time_msg = n + std::to_string(x); \ |
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macro argument should be enclosed in parentheses
Suggested change
| const std::string time_msg = n + std::to_string(x); \ | |
| const std::string time_msg = (n + std::to_string(x); \ |
| if (enable) RCLCPP_INFO_STREAM_THROTTLE(logger_, *clock_, 3000, x); | ||
| #define DEBUG_PRINT(enable, n, x) \ | ||
| if (enable) { \ | ||
| const std::string time_msg = n + std::to_string(x); \ |
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macro argument should be enclosed in parentheses
Suggested change
| const std::string time_msg = n + std::to_string(x); \ | |
| const std::string time_msg = n) + std::to_string(x); \ |
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