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fix(motion_velocity_smoother): fix overwriteStopPoint using backward point #816

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merged 2 commits into from
May 19, 2022
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fix(motion_velocity_smoother): fix overwriteStopPoint using backward point #816

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a5531a5
fix(motion_velocity_smoother): fix overwriteStopPoint using backward …
kosuke55 Apr 26, 2022
28e9c29
Modify overwriteStopPoint input and output
kosuke55 Apr 27, 2022
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fix(motion_velocity_smoother): fix overwriteStopPoint using backward … 
…point

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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@kosuke55
kosuke55 committed Apr 27, 2022
commit a5531a59f6cca7759a3f0627e3d954ca9b5cee6d
15 changes: 12 additions & 3 deletions planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -714,14 +714,23 @@ MotionVelocitySmootherNode::calcInitialMotion(
void MotionVelocitySmootherNode::overwriteStopPoint(
const TrajectoryPoints & input, TrajectoryPoints & output) const
{
const auto stop_idx = tier4_autoware_utils::searchZeroVelocityIndex(input);
if (!stop_idx) {
// Search 0 velocity point after the previous point of the closest point of ego
const auto closest_idx = tier4_autoware_utils::findNearestIndex(
input, current_pose_ptr_->pose, std::numeric_limits<double>::max(),
node_param_.delta_yaw_threshold);
if (!closest_idx || *closest_idx == 0) {
return;
}
TrajectoryPoints points_after_ego{input.begin() + *closest_idx - 1, input.end()};
const auto stop_idx_after_ego = tier4_autoware_utils::searchZeroVelocityIndex(points_after_ego);
if (!stop_idx_after_ego) {
return;
}
const auto stop_idx = *stop_idx_after_ego + *closest_idx - 1;

// Get Closest Point from Output
const auto nearest_output_point_idx = tier4_autoware_utils::findNearestIndex(
output, input.at(*stop_idx).pose, std::numeric_limits<double>::max(),
output, input.at(stop_idx).pose, std::numeric_limits<double>::max(),
node_param_.delta_yaw_threshold);

// check over velocity
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