feat(obstacle_cruise_planner): yield function for ocp (#6242) #1168
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…tion#6242) * WIP make ego yield to cut in vehicles Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * param name change Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add params Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix bug for distance comparison Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * implement a collision time check for yield candidates Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * deleting comments Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * comment out prints for test Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete comments, use param Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * Add param to set moving obstacle speed threshold Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * WIP check for cars going opposite direction Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * check opposite line driving Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update documentation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update README Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * set default false Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * refactor isFrontObstacle Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * make const Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>
danielsanchezaran
requested review from
kosuke55,
satoshi-ota,
takayuki5168 and
yuki-takagi-66
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danielsanchezaran
assigned danielsanchezaran and shmpwk and unassigned danielsanchezaran
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Add yield function to obstacle cruise planner
Ticket: https://tier4.atlassian.net/jira/software/c/projects/RT1/issues/RT1-3025?filter=doneissues&jql=project%20%3D%20%22%5BR%26D%5D%20Autonomous%20Driving%20Components%22%0Aand%20statusCategory%20%3D%20%22Done%22%0Aand%20assignee%20%3D%20712020%3A7d8589d1-64d7-4a6d-8162-863204d3efe2%0Aand%20status%20%3D%20Done%0AORDER%20BY%20created%20DESC
Universe PR: autowarefoundation#6242
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