fix(path_generator): ensure refined path connects start and goal #511
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Signed-off-by: mitukou1109 <[email protected]>
mitukou1109
requested review from
sasakisasaki,
kosuke55,
satoshi-ota,
takayuki5168 and
a team
as code owners
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LGTM
internal disuccusion: https://star4.slack.com/archives/C0575HP7NJG/p1748515312534479?thread_ts=1748479122.395359&cid=C0575HP7NJG
youtalk
added
the
run:build-and-test-differential
| @@ -672,6 +672,10 @@ experimental::trajectory::Trajectory<PathPointWithLaneId> refine_path_for_goal( | |||
| if (!intervals.empty()) { | |||
| auto cropped = autoware::experimental::trajectory::crop(cropped_path, 0, intervals.back().end); | |||
| goal_connected_trajectory_points = cropped.restore(2); | |||
| } else if (cropped_path.length() > 1.0) { | |||
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1.0 is a magic number. Please declare the constexpr value to name it.
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This is due to the pre-goal offset being hardcoded, and I have just made it a parameter in mitukou1109#6.
Internal discussion: https://star4.slack.com/archives/C0575HP7NJG/p1748917579897599?thread_ts=1748479122.395359&cid=C0575HP7NJG
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mitukou1109#6 was merged to this branch.
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #511 +/- ##
==========================================
- Coverage 46.98% 45.94% -1.04%
==========================================
Files 285 285
Lines 18957 19909 +952
Branches 8015 8103 +88
==========================================
+ Hits 8906 9148 +242
- Misses 9264 9986 +722
+ Partials 787 775 -12
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Signed-off-by: mitukou1109 <[email protected]>
Signed-off-by: mitukou1109 <[email protected]>
Signed-off-by: mitukou1109 <[email protected]>
refactor(path_generator): parameterize pre-goal offset
| // If distance from start to goal is smaller than refine_goal_search_radius_range and start is | ||
| // farther from goal than pre_goal, we just connect start, pre_goal, and goal. |
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This comment is helpful. Thank you!
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Now testing on the evaluator: |
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Thank you so much for fix! I'm going to approve after seeing the result of tests on the evaluator. Let me know if I'm missing some already performed test results 👍 |
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Success rate 3944/3946. Good to me! 👍 |
Description
This PR fixes the smooth goal connection feature of
path_generatorto ensure the refined path connects the start and the goal when the raw path is shorter thanrefine_goal_search_radius_range.How was this PR tested?
Psim,
refine_goal_search_radius_rangeis set to 100.0m and the length of the ego lanelet is 32.5358m.Before:
After:
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.