refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread #9006
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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soblin
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| size_t id() const { return id_; } | ||
| Pose start_pose() const { return start_pose_; } | ||
| Pose end_pose() const { return end_pose_; } | ||
| Pose end_pose() const { return modified_goal_pose_.goal_pose; } |
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This PR makes the end pose and goal pose coincide, so the end pose is no longer necessary.
(Previously, the end of the shift was the end pose only for shift pull over.)
It appears that the end pose can be eliminated entirely.
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9006 +/- ##
==========================================
- Coverage 26.52% 26.50% -0.02%
==========================================
Files 1296 1300 +4
Lines 95711 95768 +57
Branches 38974 38975 +1
==========================================
Hits 25383 25383
- Misses 67721 67778 +57
Partials 2607 2607
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…fied goal once from background thread (autowarefoundation#9006) refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: prakash-kannaiah <prakashkanan.pk@gmail.com>
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Description
depends #8994
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None.
Interface changes
None.
Effects on system behavior
None.