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feat(planning_evaluator): add modified goal deviation #3053
feat(planning_evaluator): add modified goal deviation #3053
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@@ -77,5 +77,26 @@ Stat<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr | |||
return stat; | |||
} | |||
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Stat<double> calcPoseLongitudinalDeviation(const Pose & base_pose, const Pose & target_pose) |
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const Pose & target_pose
can be replaced with
const Point & target_point
?
if direction of target_pose is not used.
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thanks, fixed in 31c8b82
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(and 4ac91a0)
if (!metric_stat) { | ||
continue; | ||
} | ||
metric_stats_[static_cast<size_t>(metric)].push_back(*metric_stat); |
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TODO(sugahara)
fix memory leak
if (!ego_state_ptr_) { | ||
return; | ||
} | ||
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||
auto start = now(); | ||
stamps_.push_back(traj_msg->header.stamp); |
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TODO(suaghara)
fix memory leak
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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LGTM
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #3053 +/- ##
==========================================
+ Coverage 11.95% 12.00% +0.04%
==========================================
Files 1324 1324
Lines 92115 92198 +83
Branches 24627 24664 +37
==========================================
+ Hits 11011 11064 +53
+ Misses 69691 69688 -3
- Partials 11413 11446 +33
*This pull request uses carry forward flags. Click here to find out more.
... and 1 file with indirect coverage changes Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. ☔ View full report in Codecov by Sentry. |
fix and add tests in 6d3b9e3. checked it passed |
…tion#3053) * feat(planning_evaluator): add modified goal deviation Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add abs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * remove setModifiedGoal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use Point and rename func Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix func docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix and add tests Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
…tion#3053) * feat(planning_evaluator): add modified goal deviation Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add abs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * remove setModifiedGoal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * use Point and rename func Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix func docs Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix and add tests Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Description
Add metrics of deviation from the modified goal pose
Related links
Tests performed
TIER IV internal scenario test
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