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fix(start_planner): remove shift pull out enough distance check #4422

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merged 1 commit into from
Jul 30, 2023
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fix(start_planner): remove shift pull out enough distance check #4422

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4 changes: 0 additions & 4 deletions ...ehavior_path_planner/include/behavior_path_planner/utils/start_planner/shift_pull_out.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,10 +45,6 @@ class ShiftPullOut : public PullOutPlannerBase
const BehaviorPathPlannerParameters & common_parameter,
const behavior_path_planner::StartPlannerParameters & parameter);

bool hasEnoughDistance(
const double pull_out_total_distance, const lanelet::ConstLanelets & current_lanes,
const Pose & current_pose, const bool isInGoalRouteSection, const Pose & goal_pose);

double calcBeforeShiftedArcLength(
const PathWithLaneId & path, const double target_after_arc_length, const double dr);

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27 changes: 0 additions & 27 deletions planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,14 +216,6 @@ std::vector<PullOutPath> ShiftPullOut::calcPullOutPaths(
const double before_shifted_pull_out_distance =
std::max(pull_out_distance, pull_out_distance_converted);

// check has enough distance
const bool is_in_goal_route_section = route_handler.isInGoalRouteSection(road_lanes.back());
if (!hasEnoughDistance(
before_shifted_pull_out_distance, road_lanes, start_pose, is_in_goal_route_section,
goal_pose)) {
continue;
}

// if before_shifted_pull_out_distance is too short, shifting path fails, so add non shifted
if (before_shifted_pull_out_distance < RESAMPLE_INTERVAL && !has_non_shifted_path) {
candidate_paths.push_back(non_shifted_path);
Expand Down Expand Up @@ -319,25 +311,6 @@ double ShiftPullOut::calcPullOutLongitudinalDistance(
return min_pull_out_distance;
}

bool ShiftPullOut::hasEnoughDistance(
const double pull_out_total_distance, const lanelet::ConstLanelets & road_lanes,
const Pose & current_pose, const bool is_in_goal_route_section, const Pose & goal_pose)
{
// the goal is far so current_lanes do not include goal's lane
if (pull_out_total_distance > utils::getDistanceToEndOfLane(current_pose, road_lanes)) {
return false;
}

// current_lanes include goal's lane
if (
is_in_goal_route_section &&
pull_out_total_distance > utils::getSignedDistance(current_pose, goal_pose, road_lanes)) {
return false;
}

return true;
}

double ShiftPullOut::calcBeforeShiftedArcLength(
const PathWithLaneId & path, const double target_after_arc_length, const double dr)
{
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