feat(lane_departure_checker): better cubstones's search #5582
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5582 +/- ##
==========================================
- Coverage 15.25% 15.19% -0.06%
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Files 1717 1717
Lines 118382 119424 +1042
Branches 37910 38665 +755
==========================================
+ Hits 18061 18149 +88
- Misses 79668 80541 +873
- Partials 20653 20734 +81
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Nov 22, 2023
…dation#5582) * feat(lane_departure_checker): better cubstones's search Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
Without the PR, the curbstones have to be the boundary of the route lanelet to make the lane_departure_checker work.
With the PR, any curbstones can be used by the lane_departure_checker.
To use this feature of lane_departure_checker considering the curbstones,
boundary_departure_checkershould be true andboundary_types_to_detectshould includecurbstone.Most of the implementation of boundarys' search with RTree is from drivable area expansion in the behavior_path_planner.
Tests performed
psim
Effects on system behavior
nothing by default
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