feat(autoware_trajectory): Add more test, verify implementation for find_nearest_index in autoware_trajectory packages #578
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Test 1) 10 base points, 1000 base points 2) ternary approach (find_nearest_index as s), original approach (findFirstNearestIndex... as index) Signed-off-by: Sarun Mukdapitak <[email protected]>
1) find_first_nearest_index is the combination between the original and latest version. 2) tests of original approach (index) on bow trajectory is added. 3) yaw of bow trajectory is recalculated 4) tests of find_first_nearest_index on vertical loop trajectory and bow trajectory is added. Signed-off-by: Sarun Mukdapitak <[email protected]>
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common/autoware_trajectory/include/autoware/trajectory/utils/find_nearest.hpp
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common/autoware_trajectory/include/autoware/trajectory/utils/find_nearest.hpp
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Signed-off-by: Sarun Mukdapitak <[email protected]>
Signed-off-by: Sarun Mukdapitak <[email protected]>
Signed-off-by: Sarun Mukdapitak <[email protected]>
Signed-off-by: Sarun Mukdapitak <[email protected]>
For 1) PathPoint 2) PathPointWithLaneId 3) Pose 4) TrajectoryPoint Note: Point is not added due to pose unavailable Signed-off-by: Sarun Mukdapitak <[email protected]>
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Description
Refine the PR #507.
find_nearest_indexfor self-intersecting trajectory.find_first_nearest_index, that combinefindFirstNearestIndexWithSoftConstraintswith latest mergedfind_nearest_index(tertiary search)find_nearest_indexforPathPoint,PathPointWithLaneId,PoseandTrajectoryPoint. (Point is not added since pose is unavailable)Related links
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.