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refactor(behavior_velocity): occlusion spot #601

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merged 6 commits into from
Mar 29, 2022
Merged

refactor(behavior_velocity): occlusion spot #601

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c4ee2eb
refactor(behavior_velocity): refactor codes
taikitanaka3 Mar 28, 2022
fa71d7e
refactor(behavior_velocity): fix typo
taikitanaka3 Mar 28, 2022
b985d0d
refactor(behavior_velocity): refactor debuggings
taikitanaka3 Mar 28, 2022
59e3180
refactor(behavior_velocity): unite to generate
taikitanaka3 Mar 29, 2022
0ecb73c
refactor(behavior_velocity): apply clang tidy
taikitanaka3 Mar 29, 2022
60a17c9
chore(behavior_velocity): retun to default settting
taikitanaka3 Mar 29, 2022
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refactor(behavior_velocity): fix typo 
Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
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@taikitanaka3
taikitanaka3 committed Mar 28, 2022
commit fa71d7e7f955b74281e49fe2102fb85ef429b955
4 changes: 2 additions & 2 deletions planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ bool OcclusionSpotModule::modifyPathVelocity(
if (param_.is_show_processing_time) stop_watch_.tic("processing_time");
if (param_.detection_method == utils::DETECTION_METHOD::OCCUPANCY_GRID) {
const auto & occ_grid_ptr = planner_data_->occupancy_grid;
if (!occ_grid_ptr) return true; // mo data
if (!occ_grid_ptr) return true; // no data
grid_map::GridMap grid_map;
grid_utils::denoiseOccupancyGridCV(
occ_grid_ptr, grid_map, param_.grid, param_.is_show_cv_window, param_.filter_occupancy_grid);
Expand All @@ -125,7 +125,7 @@ bool OcclusionSpotModule::modifyPathVelocity(
}
} else if (param_.detection_method == utils::DETECTION_METHOD::PREDICTED_OBJECT) {
const auto & dynamic_obj_arr_ptr = planner_data_->predicted_objects;
if (!dynamic_obj_arr_ptr) return true; // mo data
if (!dynamic_obj_arr_ptr) return true; // no data
std::vector<PredictedObject> obj =
utils::getParkedVehicles(*dynamic_obj_arr_ptr, param_, debug_data_.parked_vehicle_point);
const auto filtered_obj =
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