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fix(path_generator): ensure refined path connects start and goal #511

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Merged
merged 6 commits into from
Jun 6, 2025
Merged

fix(path_generator): ensure refined path connects start and goal #511

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c9d9aec
ensure refined path connects start and goal
mitukou1109 Jun 3, 2025
f4e5f16
Merge branch 'main' into fix/path-generator-smooth-goal-connection
youtalk Jun 3, 2025
75e152a
rename and add parameters for smooth goal connection
mitukou1109 Jun 3, 2025
be45627
parameterize pre-goal offset
mitukou1109 Jun 3, 2025
6c11264
delegate validation to generate_parameter_library
mitukou1109 Jun 3, 2025
79a173e
Merge pull request #6 from mitukou1109/refactor/path-generator-parameter
mitukou1109 Jun 3, 2025
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4 changes: 4 additions & 0 deletions planning/autoware_path_generator/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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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@mitukou1109 mitukou1109 Jun 3, 2025 •
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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.

// 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.
Comment on lines +675 to +676
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This comment is helpful. Thank you!

goal_connected_trajectory_points = {cropped_path.compute(0)};
}

auto goal = input.compute(autoware::experimental::trajectory::closest(input, goal_pose));
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