refactor(motion_velocity_smoother): load smoother params from node instances #609

mkuri · 2022-03-30T13:00:57Z

Description

When using smoother from other nodes, the parameter structure had to be generated at each node, which was not easy to maintain.
Modified to pass node instances to the constructor of smoother and set parameters in the constructor of each smoother.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

codecov · 2022-03-30T13:11:23Z

Codecov Report

Merging #609 (b76dd81) into main (ca59048) will decrease coverage by 10.76%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #609       +/-   ##
==========================================
- Coverage   10.76%   0.00%   -10.77%     
==========================================
  Files         712      10      -702     
  Lines       50569    1776    -48793     
  Branches     6572       0     -6572     
==========================================
- Hits         5445       0     -5445     
+ Misses      40717    1776    -38941     
+ Partials     4407       0     -4407

Impacted Files	Coverage Δ
...ity_smoother/src/motion_velocity_smoother_node.cpp	`0.00% <0.00%> (ø)`
..._smoother/analytical_jerk_constrained_smoother.cpp	`0.00% <0.00%> (ø)`
...y_smoother/src/smoother/jerk_filtered_smoother.cpp	`0.00% <0.00%> (ø)`
..._smoother/src/smoother/l2_pseudo_jerk_smoother.cpp	`0.00% <0.00%> (ø)`
...moother/src/smoother/linf_pseudo_jerk_smoother.cpp	`0.00% <0.00%> (ø)`
...n_velocity_smoother/src/smoother/smoother_base.cpp	`0.00% <0.00%> (ø)`
...tetime_rviz_plugin/src/autoware_datetime_panel.cpp
...n/autoware_auto_geometry/test/src/lookup_table.cpp
...ehavior_path_planner/path_shifter/path_shifter.hpp
... and 699 more

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update ca59048...b76dd81. Read the comment docs.

taikitanaka3 · 2022-03-31T02:23:18Z

@mkuri
can you fix pre-commit?

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

taikitanaka3

LGTM

…stances (autowarefoundation#609) * Add constructor for setting params from node instance Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change num_resample type from double to int Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug std outputs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Shorten parameter variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Apply other smothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change how to construct smoothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix * Remove extra constructor Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Refactor param variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…stances (#609) * Add constructor for setting params from node instance Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change num_resample type from double to int Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug std outputs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Shorten parameter variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Apply other smothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change how to construct smoothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix * Remove extra constructor Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Refactor param variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…stances (autowarefoundation#609) * Add constructor for setting params from node instance Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change num_resample type from double to int Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug std outputs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Shorten parameter variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Apply other smothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change how to construct smoothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix * Remove extra constructor Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Refactor param variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…stances (tier4#609) * Add constructor for setting params from node instance Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change num_resample type from double to int Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Remove debug std outputs Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Shorten parameter variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Apply other smothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Change how to construct smoothers Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix * Remove extra constructor Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * Refactor param variables Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

mkuri and others added 7 commits March 30, 2022 21:51

Add constructor for setting params from node instance

bb1d669

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Change num_resample type from double to int

9fdca95

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Remove debug std outputs

c320afc

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Shorten parameter variables

d3d6db4

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Apply other smothers

9b0382f

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Change how to construct smoothers

dbef9d1

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

ci(pre-commit): autofix

d528ee3

mkuri changed the title ~~Feature/load smoother params from node instances~~ refactor(motion_velocity_smoother): load smoother params from node instances Mar 30, 2022

mkuri and others added 3 commits March 31, 2022 13:52

Remove extra constructor

61022b9

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Refactor param variables

b0b8042

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

ci(pre-commit): autofix

b76dd81

mkuri requested review from TakaHoribe and taikitanaka3 March 31, 2022 04:58

taikitanaka3 approved these changes Mar 31, 2022

View reviewed changes

mkuri merged commit 2b8d5fc into autowarefoundation:main Mar 31, 2022

tier4-autoware-public-bot bot mentioned this pull request Apr 1, 2022

chore: sync upstream tier4/autoware.universe#29

Merged

This was referenced Apr 1, 2022

fix(motion_velocity_smoother): update params for dynamic parameter setting #616

Closed

fix(motion_velocity_smoother): initialize params for dynamic parameter #617

Merged

kyoichi-sugahara pushed a commit that referenced this pull request Sep 16, 2023

chore: sync files (#609)

70764fb

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

refactor(motion_velocity_smoother): load smoother params from node instances #609

refactor(motion_velocity_smoother): load smoother params from node instances #609

mkuri commented Mar 30, 2022 •

edited

Loading

codecov bot commented Mar 30, 2022 •

edited

Loading

taikitanaka3 commented Mar 31, 2022

taikitanaka3 left a comment

refactor(motion_velocity_smoother): load smoother params from node instances #609

refactor(motion_velocity_smoother): load smoother params from node instances #609

Conversation

mkuri commented Mar 30, 2022 • edited Loading

Description

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Mar 30, 2022 • edited Loading

Codecov Report

taikitanaka3 commented Mar 31, 2022

taikitanaka3 left a comment

Choose a reason for hiding this comment

mkuri commented Mar 30, 2022 •

edited

Loading

codecov bot commented Mar 30, 2022 •

edited

Loading