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feat(planning_evaluator): add modified goal deviation #3053

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merged 6 commits into from
Mar 14, 2023
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feat(planning_evaluator): add modified goal deviation #3053

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b06fa6c
feat(planning_evaluator): add modified goal deviation
kosuke55 Mar 10, 2023
1cb86a9
add abs
kosuke55 Mar 13, 2023
afb5ab7
remove setModifiedGoal
kosuke55 Mar 13, 2023
31c8b82
use Point and rename func
kosuke55 Mar 14, 2023
4ac91a0
fix func docs
kosuke55 Mar 14, 2023
6d3b9e3
fix and add tests
kosuke55 Mar 14, 2023
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add abs 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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kosuke55 committed Mar 13, 2023
commit 1cb86a90ba1167bd5d3c028693d63d2653882eda
7 changes: 4 additions & 3 deletions evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,21 +80,22 @@ Stat<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr
Stat<double> calcPoseLongitudinalDeviation(const Pose & base_pose, const Pose & target_pose)
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const Pose & target_pose
can be replaced with
const Point & target_point?
if direction of target_pose is not used.

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thanks, fixed in 31c8b82

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(and 4ac91a0)

{
Stat<double> stat;
stat.add(tier4_autoware_utils::calcLongitudinalDeviation(base_pose, target_pose.position));
stat.add(
std::abs(tier4_autoware_utils::calcLongitudinalDeviation(base_pose, target_pose.position)));
return stat;
}

Stat<double> calcPoseLateralDeviation(const Pose & base_pose, const Pose & target_pose)
{
Stat<double> stat;
stat.add(tier4_autoware_utils::calcLateralDeviation(base_pose, target_pose.position));
stat.add(std::abs(tier4_autoware_utils::calcLateralDeviation(base_pose, target_pose.position)));
return stat;
}

Stat<double> calcPoseYawDeviation(const Pose & base_pose, const Pose & target_pose)
{
Stat<double> stat;
stat.add(tier4_autoware_utils::calcYawDeviation(base_pose, target_pose));
stat.add(std::abs(tier4_autoware_utils::calcYawDeviation(base_pose, target_pose)));
return stat;
}
} // namespace metrics
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