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feat(behavior_path_planner): visualize full pull out path as candidate #2643

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Jan 12, 2023
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feat(behavior_path_planner): visualize full pull out path as candidate #2643

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14 changes: 7 additions & 7 deletions planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -198,6 +198,7 @@ BehaviorModuleOutput PullOutModule::plan()

output.path = std::make_shared<PathWithLaneId>(path);
output.turn_signal_info = calcTurnSignalInfo();
path_candidate_ = std::make_shared<PathWithLaneId>(getFullPath());

const uint16_t steering_factor_direction = std::invoke([&output]() {
if (output.turn_signal_info.turn_signal.command == TurnIndicatorsCommand::ENABLE_LEFT) {
Expand Down Expand Up @@ -289,17 +290,16 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval()
drivable_lanes, parameters_.drivable_area_left_bound_offset,
parameters_.drivable_area_right_bound_offset, parameters_.drivable_area_types_to_skip);

auto candidate_path = status_.back_finished ? getCurrentPath() : status_.backward_path;
auto stop_path = status_.back_finished ? getCurrentPath() : status_.backward_path;
util::generateDrivableArea(
candidate_path, expanded_lanes, planner_data_->parameters.vehicle_length, planner_data_);
auto stop_path = candidate_path;
stop_path, expanded_lanes, planner_data_->parameters.vehicle_length, planner_data_);
for (auto & p : stop_path.points) {
p.point.longitudinal_velocity_mps = 0.0;
}

output.path = std::make_shared<PathWithLaneId>(stop_path);
output.turn_signal_info = calcTurnSignalInfo();
path_candidate_ = std::make_shared<PathWithLaneId>(candidate_path);
path_candidate_ = std::make_shared<PathWithLaneId>(getFullPath());

const uint16_t steering_factor_direction = std::invoke([&output]() {
if (output.turn_signal_info.turn_signal.command == TurnIndicatorsCommand::ENABLE_LEFT) {
Expand All @@ -312,10 +312,10 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval()

if (status_.back_finished) {
const double start_distance = motion_utils::calcSignedArcLength(
candidate_path.points, planner_data_->self_pose->pose.position,
stop_path.points, planner_data_->self_pose->pose.position,
status_.pull_out_path.start_pose.position);
const double finish_distance = motion_utils::calcSignedArcLength(
candidate_path.points, planner_data_->self_pose->pose.position,
stop_path.points, planner_data_->self_pose->pose.position,
status_.pull_out_path.end_pose.position);
updateRTCStatus(start_distance, finish_distance);
steering_factor_interface_ptr_->updateSteeringFactor(
Expand All @@ -324,7 +324,7 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval()
SteeringFactor::APPROACHING, "");
} else {
const double distance = motion_utils::calcSignedArcLength(
candidate_path.points, planner_data_->self_pose->pose.position,
stop_path.points, planner_data_->self_pose->pose.position,
status_.pull_out_path.start_pose.position);
updateRTCStatus(0.0, distance);
steering_factor_interface_ptr_->updateSteeringFactor(
Expand Down