chore(freespace_planning_algorithm): modify A* script for standalone running #7070
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July 4, 2024 09:25
move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
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Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #7070 +/- ##
==========================================
- Coverage 28.68% 28.66% -0.02%
==========================================
Files 1587 1593 +6
Lines 116304 116348 +44
Branches 49652 49653 +1
==========================================
Hits 33356 33356
- Misses 73892 73936 +44
Partials 9056 9056
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…running (autowarefoundation#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * small modification Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * run pre-commit Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> --------- Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Takumi Ito <takumi.ito@tier4.jp> Signed-off-by: palas21 <palas21@itu.edu.tr>
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…running (autowarefoundation#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * small modification Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * run pre-commit Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> --------- Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Takumi Ito <takumi.ito@tier4.jp>
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…running (#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * small modification Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * run pre-commit Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> --------- Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Takumi Ito <takumi.ito@tier4.jp>
Ariiees
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…running (autowarefoundation#7070) * modify astar for standalone running move clearNoe() from setMap to makePlan(). Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * small modification Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> * run pre-commit Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> --------- Signed-off-by: Takumi Ito <takumi.ito@tier4.jp> Co-authored-by: Takumi Ito <takumi.ito@tier4.jp>
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Description
Modify A* script for standalone running.
When the A* algorithm runs via the freespace_planner node, the planner clears the A* node previously.
But when the makePlan() method in the A* node runs standalone (for example running via python wrapper), the node is not cleared.
I append clearNode() in makePlan().
Related links
Python wrapper of A* algorithms PR#6398
Tools for python wrapper autoware_tools PR#28
Evaluator: https://evaluation.tier4.jp/evaluation/reports/fbb9175f-1204-5605-a2fd-fbc995e6aaed?project_id=prd_jt
Interface changes
There are no changes in interfaces.
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