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revert(behavior_path): revert removal of refineGoalFunction (#2340)" #2485

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Dec 9, 2022
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revert(behavior_path): revert removal of refineGoalFunction (#2340)" #2485

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12 changes: 11 additions & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -886,8 +886,18 @@ PathWithLaneId BehaviorPathPlannerNode::modifyPathForSmoothGoalConnection(
const auto goal = planner_data_->route_handler->getGoalPose();
const auto goal_lane_id = planner_data_->route_handler->getGoalLaneId();

Pose refined_goal{};
{
lanelet::ConstLanelet goal_lanelet;
if (planner_data_->route_handler->getGoalLanelet(&goal_lanelet)) {
refined_goal = util::refineGoal(goal, goal_lanelet);
} else {
refined_goal = goal;
}
}

auto refined_path = util::refinePathForGoal(
planner_data_->parameters.refine_goal_search_radius_range, M_PI * 0.5, path, goal,
planner_data_->parameters.refine_goal_search_radius_range, M_PI * 0.5, path, refined_goal,
goal_lane_id);
refined_path.header.frame_id = "map";
refined_path.header.stamp = this->now();
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7 changes: 7 additions & 0 deletions planning/behavior_path_planner/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1098,7 +1098,14 @@ bool setGoal(

const Pose refineGoal(const Pose & goal, const lanelet::ConstLanelet & goal_lanelet)
{
// return goal;
const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(goal.position);
const double distance = boost::geometry::distance(
goal_lanelet.polygon2d().basicPolygon(), lanelet::utils::to2D(lanelet_point).basicPoint());
if (distance < std::numeric_limits<double>::epsilon()) {
return goal;
}

const auto segment = lanelet::utils::getClosestSegment(
lanelet::utils::to2D(lanelet_point), goal_lanelet.centerline());
if (segment.empty()) {
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