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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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fix func docs 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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kosuke55 committed Mar 14, 2023
commit 4ac91a03e16fd568295cb92b3f981dba27e5e7fc
4 changes: 2 additions & 2 deletions evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp
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Expand Up @@ -56,15 +56,15 @@ Stat<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr
/**
* @brief calculate longitudinal deviation of the given ego pose from the modified goal pose
* @param [in] base_pose base pose
* @param [in] target_pose target pose
* @param [in] target_point target point
* @return calculated statistics
*/
Stat<double> calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point);

/**
* @brief calculate lateral deviation of the given ego pose from the modified goal pose
* @param [in] base_pose base pose
* @param [in] target_pose target pose
* @param [in] target_point target point
* @return calculated statistics
*/
Stat<double> calcLateralDeviation(const Pose & base_pose, const Point & target_point);
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