refactor(start_planner): refactor backward path calculation in StartPlannerModule #5529
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…lannerModule The method "calcStartPoseCandidatesBackwardPath" has been renamed to "calcBackwardPathFromStartPose" to better reflect its purpose. The method now calculates the backward path by shifting the original start pose coordinates to align with the pull out lanes. The stop objects in the pull out lanes are filtered by velocity, using the new "filterStopObjectsInPullOutLanes" method. Additionally, the redundant "isOverlappedWithLane" method has been removed. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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| // filter for objects located in pull_out_lanes and moving at a speed below the threshold | ||
| const auto [objects_in_pull_out_lanes, others] = | ||
| utils::path_safety_checker::separateObjectsByLanelets( | ||
| *planner_data_->dynamic_object, pull_out_lanes, | ||
| utils::path_safety_checker::isPolygonOverlapLanelet); | ||
| const auto stop_objects_in_pull_out_lanes = utils::path_safety_checker::filterObjectsByVelocity( | ||
| objects_in_pull_out_lanes, velocity_threshold); |
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better to filter with velocity for computational cost
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changed in f7d1775
planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…start_planner_module.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
…r_filtering Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
StartPlannerModule Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5529 +/- ##
==========================================
- Coverage 15.36% 15.36% -0.01%
==========================================
Files 1697 1697
Lines 117472 117476 +4
Branches 37762 37763 +1
==========================================
Hits 18049 18049
- Misses 78873 78877 +4
Partials 20550 20550
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…lannerModule (autowarefoundation#5529) * refactor(start_planner): refactor backward path calculation in StartPlannerModule The method "calcStartPoseCandidatesBackwardPath" has been renamed to "calcBackwardPathFromStartPose" to better reflect its purpose. The method now calculates the backward path by shifting the original start pose coordinates to align with the pull out lanes. The stop objects in the pull out lanes are filtered by velocity, using the new "filterStopObjectsInPullOutLanes" method. Additionally, the redundant "isOverlappedWithLane" method has been removed. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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Description
The method "calcStartPoseCandidatesBackwardPath" has been renamed to "calcBackwardPathFromStartPose" to better reflect its purpose. The method now calculates the backward path by shifting the original start pose coordinates to align with the pull out lanes. The stop objects in the pull out lanes are filtered by velocity, using the new "filterStopObjectsInPullOutLanes" method.
Additionally, the redundant "isOverlappedWithLane" method has been removed.
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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