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feat(obstacle_avoidance_planner): fix bounds search #965

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May 26, 2022
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feat(obstacle_avoidance_planner): fix bounds search #965

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8fd23ec
feat(obstacle_avoidance_planner): fix bounds search
takayuki5168 May 26, 2022
92c6ae1
fix ci error
takayuki5168 May 26, 2022
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2 changes: 2 additions & 0 deletions planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,8 @@ struct DebugData
std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> mpt_traj;
std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> extended_fixed_traj;
std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> extended_non_fixed_traj;

SequentialBoundsCandidates sequential_bounds_candidates;
};

struct Trajectories
Expand Down
44 changes: 20 additions & 24 deletions planning/obstacle_avoidance_planner/src/debug_visualization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -436,51 +436,49 @@ visualization_msgs::msg::MarkerArray getRectanglesNumMarkerArray(
return msg;
}

/*
visualization_msgs::msg::MarkerArray getBoundsCandidatesLineMarkerArray(
const std::vector<ReferencePoint> & ref_points,
const SequentialBoundsCandidates & sequential_bounds_candidates, const double r, const double g,
const double b, const double vehicle_circle_radius, const size_t sampling_num)
std::vector<std::vector<Bounds>> & bounds_candidates, const double r, const double g,
const double b, [[maybe_unused]] const double vehicle_width, const size_t sampling_num)
{
const auto current_time = rclcpp::Clock().now();
visualization_msgs::msg::MarkerArray msg;
const std::string ns = "bounds_candidates";

int unique_id = 0;
if (ref_points.empty()) return msg;

auto marker = createDefaultMarker(
"map", rclcpp::Clock().now(), "bounds_candidates", 0,
visualization_msgs::msg::Marker::LINE_LIST, createMarkerScale(0.05, 0, 0),
createMarkerColor(r + 0.5, g, b, 0.3));
marker.lifetime = rclcpp::Duration::from_seconds(1.0);
"map", rclcpp::Clock().now(), ns, 0, visualization_msgs::msg::Marker::LINE_LIST,
createMarkerScale(0.05, 0.0, 0.0), createMarkerColor(r + 0.5, g, b, 0.3));
marker.lifetime = rclcpp::Duration::from_seconds(1.5);

for (size_t p_idx = 0; p_idx < sequential_bounds_candidates.size(); ++p_idx) {
if (p_idx % sampling_num != 0) {
for (size_t i = 0; i < ref_points.size(); i++) {
if (i % sampling_num != 0) {
continue;
}

const auto & bounds_candidates = sequential_bounds_candidates.at(p_idx);
for (size_t b_idx = 0; b_idx < bounds_candidates.size(); ++b_idx) {
const auto & bounds_candidate = bounds_candidates.at(b_idx);

marker.id = unique_id++;
const auto & bound_candidates = bounds_candidates.at(i);
for (size_t j = 0; j < bound_candidates.size(); ++j) {
geometry_msgs::msg::Pose pose;
pose.position = ref_points.at(p_idx).p;
pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ref_points.at(p_idx).yaw);
pose.position = ref_points.at(i).p;
pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ref_points.at(i).yaw);

const double lb_y = bounds_candidate.lower_bound - vehicle_circle_radius;
// lower bound
const double lb_y = bound_candidates.at(j).lower_bound;
const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
marker.points.push_back(lb);

const double ub_y = bounds_candidate.upper_bound + vehicle_circle_radius;
// upper bound
const double ub_y = bound_candidates.at(j).upper_bound;
const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
marker.points.push_back(ub);

msg.markers.push_back(marker);
}
}

msg.markers.push_back(marker);
return msg;
}
*/

visualization_msgs::msg::MarkerArray getBoundsLineMarkerArray(
const std::vector<ReferencePoint> & ref_points, const double r, const double g, const double b,
Expand Down Expand Up @@ -762,14 +760,12 @@ visualization_msgs::msg::MarkerArray getDebugVisualizationMarker(
debug_data_ptr->mpt_visualize_sampling_num),
&vis_marker_array);

/*
// bounds candidates
appendMarkerArray(
getBoundsCandidatesLineMarkerArray(
debug_data_ptr->ref_points, debug_data_ptr->sequential_bounds_candidates, 0.2, 0.99, 0.99,
debug_data_ptr->vehicle_circle_radius, debug_data_ptr->mpt_visualize_sampling_num),
vehicle_param.width, debug_data_ptr->mpt_visualize_sampling_num),
&vis_marker_array);
*/

// vehicle circle line
appendMarkerArray(
Expand Down
12 changes: 9 additions & 3 deletions planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1372,6 +1372,7 @@ void MPTOptimizer::calcBounds(
enable_avoidance, convertRefPointsToPose(ref_point), maps, debug_data_ptr);
sequential_bounds_candidates.push_back(bounds_candidates);
}
debug_data_ptr->sequential_bounds_candidates = sequential_bounds_candidates;

// search continuous and widest bounds only for front point
for (size_t i = 0; i < sequential_bounds_candidates.size(); ++i) {
Expand Down Expand Up @@ -1408,6 +1409,11 @@ void MPTOptimizer::calcBounds(
RCLCPP_INFO_EXPRESSION(
rclcpp::get_logger("mpt_optimizer"), is_showing_debug_info_,
"non-overlapped length bounds is ignored.");
RCLCPP_INFO_EXPRESSION(
rclcpp::get_logger("mpt_optimizer"), is_showing_debug_info_,
"In detail, prev: lower=%f, upper=%f, candidate: lower=%f, upper=%f",
prev_continuous_bounds.lower_bound, prev_continuous_bounds.upper_bound,
bounds_candidate.lower_bound, bounds_candidate.upper_bound);
continue;
}

Expand All @@ -1429,8 +1435,8 @@ void MPTOptimizer::calcBounds(
const auto nearest_bounds = std::min_element(
filtered_bounds_candidates.begin(), filtered_bounds_candidates.end(),
[](const auto & a, const auto & b) {
return std::abs(a.lower_bound + a.upper_bound) <
std::abs(b.lower_bound + b.upper_bound);
return std::min(std::abs(a.lower_bound), std::abs(a.upper_bound)) <
std::min(std::abs(b.lower_bound), std::abs(b.upper_bound));
Comment on lines +1438 to +1439
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main change is here

});
if (
filtered_bounds_candidates.begin() <= nearest_bounds &&
Expand All @@ -1442,7 +1448,7 @@ void MPTOptimizer::calcBounds(

// invalid bounds
RCLCPP_WARN_EXPRESSION(
rclcpp::get_logger("getBounds: front"), is_showing_debug_info_, "invalid bounds");
rclcpp::get_logger("getBounds: not front"), is_showing_debug_info_, "invalid bounds");
const auto invalid_bounds =
Bounds{-5.0, 5.0, CollisionType::OUT_OF_ROAD, CollisionType::OUT_OF_ROAD};
ref_points.at(i).bounds = invalid_bounds;
Expand Down