From df83730fcaca73031b926471701aa616c6b0dd8f Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Tue, 3 Sep 2024 18:38:06 +0900 Subject: [PATCH 1/2] fix same point Signed-off-by: Yuki Takagi --- .../src/pid_longitudinal_controller.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 96e2796a91d22..7c1c0ec494ced 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -477,6 +477,7 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData control_data.interpolated_traj.points.insert( control_data.interpolated_traj.points.begin() + current_interpolated_pose.second + 1, current_interpolated_pose.first); + control_data.nearest_idx = current_interpolated_pose.second + 1; control_data.target_idx = control_data.nearest_idx; const auto nearest_point = current_interpolated_pose.first; @@ -507,6 +508,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData // calculate the target motion for delay compensation constexpr double min_running_dist = 0.01; if (control_data.state_after_delay.running_distance > min_running_dist) { + control_data.interpolated_traj.points = + autoware::motion_utils::removeOverlapPoints(control_data.interpolated_traj.points); const auto target_pose = longitudinal_utils::findTrajectoryPoseAfterDistance( control_data.nearest_idx, control_data.state_after_delay.running_distance, control_data.interpolated_traj); From 68f172f813d07f75ab2f1aed53b3e1b2fe1ba955 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Wed, 4 Sep 2024 17:24:20 +0900 Subject: [PATCH 2/2] delete null line Signed-off-by: Yuki Takagi --- .../src/pid_longitudinal_controller.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 7c1c0ec494ced..e3cdc4505c037 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -477,7 +477,6 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData control_data.interpolated_traj.points.insert( control_data.interpolated_traj.points.begin() + current_interpolated_pose.second + 1, current_interpolated_pose.first); - control_data.nearest_idx = current_interpolated_pose.second + 1; control_data.target_idx = control_data.nearest_idx; const auto nearest_point = current_interpolated_pose.first;