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fix(freespace_planner): fix a bug that goal goes out of the costmap while parking. #4577

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fix(freespace_planner): fix a bug that goal goes out of the costmap while parking. #4577

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036b8f4
Append detection wethear the goal position is out of range during A-s…
Aug 9, 2023
73c12f7
style(pre-commit): autofix
pre-commit-ci[bot] Aug 9, 2023
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24 changes: 24 additions & 0 deletions planning/freespace_planning_algorithms/src/astar_search.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -259,6 +259,30 @@
continue;
}

geometry_msgs::msg::Pose relative_goal_pose;
relative_goal_pose.position.x =
goal_pose_.position.x - (next_pose.position.x - start_pose_.position.x);
relative_goal_pose.position.y =
goal_pose_.position.y - (next_pose.position.y - start_pose_.position.y);
relative_goal_pose.orientation = goal_pose_.orientation;
const auto relative_goal_index =
pose2index(costmap_, relative_goal_pose, planner_common_param_.theta_size);

const auto & vertex_indexes_2d = vertex_indexes_table_[relative_goal_index.theta];
bool relative_goal_is_out_of_range = false;
for (const auto & vertex_index_2d : vertex_indexes_2d) {
IndexXYT vertex_index{vertex_index_2d.x, vertex_index_2d.y, 0};
// must slide to current base position
vertex_index.x += relative_goal_index.x;
vertex_index.y += relative_goal_index.y;
if (isOutOfRange(vertex_index)) {
relative_goal_is_out_of_range = true;
}
}
if (relative_goal_is_out_of_range) {
continue;
}

Check warning on line 285 in planning/freespace_planning_algorithms/src/astar_search.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

AstarSearch::search increases in cyclomatic complexity from 10 to 14, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

Check notice on line 285 in planning/freespace_planning_algorithms/src/astar_search.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Bumpy Road Ahead 

AstarSearch::search increases from 2 to 3 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

Check warning on line 285 in planning/freespace_planning_algorithms/src/astar_search.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Deep, Nested Complexity 

AstarSearch::search has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
// Compare cost
AstarNode * next_node = getNodeRef(next_index);
if (next_node->status == NodeStatus::None) {
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