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feat(behavior_path_planner): curvature based drivable area expansion #935

Merged
merged 17 commits into from
Oct 16, 2023
Merged

feat(behavior_path_planner): curvature based drivable area expansion #935

merged 17 commits into from
Oct 16, 2023

Commits on Oct 12, 2023

  1. Switch to new curvature based dynamic drivable area expansion 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  2. Cleanup + remove the old code 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  3. Handle uncrossable lines/polygons (may not be accurate enough) 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  4. Add runtime measurements 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  5. [WIP] Reuse previously calculated raw curvatures 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  6. Fix bug with lateral offset distance and repeating path points 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  7. Remove self crossings in the expanded bounds 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  8. Big cleanup + update parameters 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  9. Remove svg debug output 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  10. Update parameter file 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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  11. Fix rebase mistakes 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 12, 2023
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Commits on Oct 13, 2023

  1. Add parameter to enable/disable printing the runtime 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 13, 2023
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  2. Fix append of new path points to satisfy the resampling interval 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 13, 2023
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Commits on Oct 16, 2023

  1. Add smoothing.extra_arc_length param 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 16, 2023
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  2. Code cleanup + add docstrings 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 16, 2023
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  3. Fix spellcheck 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 16, 2023
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  4. Fix initial path poses (no longer cropped) and fix test 

    Signed-off-by: Maxime CLEMENT <[email protected]>
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    maxime-clem committed Oct 16, 2023
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