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feat(obstacle_avoidance_planner): add options for plan_from_ego #1191

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merged 5 commits into from
Jul 4, 2022
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feat(obstacle_avoidance_planner): add options for plan_from_ego #1191

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cde889f
feat(obstacle_avoidance_planner): add options for plan_from_ego
kosuke55 Jun 29, 2022
669f803
Remove adjust weight when planning from ego
kosuke55 Jun 20, 2022
7b8fb4f
Readd near_kinematic_state_while_planning_from_ego as comment
kosuke55 Jul 4, 2022
0c3e240
Use calcArcLength
kosuke55 Jul 4, 2022
8a03c11
Remove max_plan_from_ego_length from ReferecncePoint
kosuke55 Jul 4, 2022
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Use calcArcLength 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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@kosuke55
kosuke55 committed Jul 4, 2022
commit 0c3e2400b0da91f5066f468aebaee3bfeb35989c
9 changes: 1 addition & 8 deletions planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -411,14 +411,7 @@ void MPTOptimizer::calcPlanningFromEgo(std::vector<ReferencePoint> & ref_points)
{
// if plan from ego
constexpr double epsilon = 1e-04;
const double trajectory_length = [&]() {
double sum_length = 0;
for (size_t i = 1; i < ref_points.size(); ++i) {
sum_length +=
tier4_autoware_utils::calcDistance2d(ref_points.at(i - 1).p, ref_points.at(i).p);
}
return sum_length;
}();
const double trajectory_length = tier4_autoware_utils::calcArcLength(ref_points);

const bool plan_from_ego = mpt_param_.plan_from_ego && std::abs(current_ego_vel_) < epsilon &&
ref_points.size() > 1 &&
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