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fix(pure_pursuit): return zero curvature when neighboring idx isn't found #2891

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merged 6 commits into from
Feb 16, 2023
Merged

fix(pure_pursuit): return zero curvature when neighboring idx isn't found #2891

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fix(pure_pursuit): return zero curvature when neighboring idx isn't f…
kyoichi-sugahara Feb 15, 2023
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Merge branch 'main' into fix/pure-pursuit-calculate-curvature
kyoichi-sugahara Feb 15, 2023
5dafa4c
Merge branch 'main' into fix/pure-pursuit-calculate-curvature
kyoichi-sugahara Feb 16, 2023
06eaea9
modify comment and add TODO
kyoichi-sugahara Feb 16, 2023
1483e8c
fix comments
kyoichi-sugahara Feb 16, 2023
71001b3
add username in TODO
kyoichi-sugahara Feb 16, 2023
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7 changes: 7 additions & 0 deletions control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,9 +185,16 @@ double PurePursuitLateralController::calcCurvature(const size_t closest_idx)

if (static_cast<size_t>(closest_idx) >= idx_dist) {
prev_idx = closest_idx - idx_dist;
} else {
// return zero curvature because prev_idx can't be found
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return 0.0;
}

if (trajectory_resampled_->points.size() - 1 >= closest_idx + idx_dist) {
next_idx = closest_idx + idx_dist;
} else {
// return zero curvature because next_idx can't be found
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@kyoichi-sugahara
IMO
I think it's better to use prev_idx and next_idx a certain distance far from closest_idx with threshold.
What do you think?

 prev_index,<--->closest index <--->next_idx

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@kyoichi-sugahara kyoichi-sugahara Feb 16, 2023 •
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@taikitanaka3
I think your proposal method is expected behavior in the current implementation

return 0.0;
}

// Calculate curvature assuming the trajectory points interval is constant
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