feat(obstacle_cruise_planner)!: add ego pose consideration (#5036) #942
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…oundation#5036) * feat: add the feature to consider the current ego position Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * feat: add ego pose consideration. Both the lateral error and the yaw error are assumed to decrease to zero by a specified constant time (e.g 1.5 second). Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * feat: (continue) implement parameter settings for "cosider-current-ego-pose" Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * cleaned up the code Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * change description of the parameters Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * align format Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> * Update planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * Update planning/obstacle_cruise_planner/src/node.cpp Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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…oundation#5036) (#942) * feat: add the feature to consider the current ego position * feat: add ego pose consideration. Both the lateral error and the yaw error are assumed to decrease to zero by a specified constant time (e.g 1.5 second). * feat: (continue) implement parameter settings for "cosider-current-ego-pose" * cleaned up the code * change description of the parameters * align format * Update planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp * Update planning/obstacle_cruise_planner/src/node.cpp --------- Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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hotfix of autowarefoundation#5036
https://star4.slack.com/archives/C022RLPU1PZ/p1697016552543899?thread_ts=1696573047.550449&cid=C022RLPU1PZ
feat: add the feature to consider the current ego position
feat: add ego pose consideration. Both the lateral error and the yaw error are assumed to decrease to zero by a specified constant time (e.g 1.5 second).
feat: (continue) implement parameter settings for "cosider-current-ego-pose"
cleaned up the code
change description of the parameters
align format
Update planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp
Update planning/obstacle_cruise_planner/src/node.cpp
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