feat(goal_planner): prioritize pull over path by curvature #7791
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kosuke55
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## main #7791 +/- ##
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- Coverage 28.54% 28.52% -0.02%
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Files 1586 1590 +4
Lines 115879 115952 +73
Branches 49369 49371 +2
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Hits 33072 33072
- Misses 73766 73839 +73
Partials 9041 9041
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…oundation#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…oundation#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: palas21 <palas21@itu.edu.tr>
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…oundation#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…oundation#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…oundation#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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* feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…oundation#7791) * feat(goal_planner): prioritize pull over path by curvature Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment * pre commit Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Description
prioritize low curvature pull over path rather than high curvature one.
before
after
NOTE:
Currently, the curvature is calculated between the start and end poses. There is no prioritization among high curvatures, but it may be necessary to improve this by reducing the priority of paths with high curvature close to the curb, etc.
Related links
Parent Issue:
Private Links:
How was this PR tested?
psim
2024/07/03 https://evaluation.tier4.jp/evaluation/reports/e544fff5-a209-56e3-ac19-47e3f7c2620a?project_id=prd_jt
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.