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feat(lane_departure_checker,start_planner): add check for path within lanes for bvspm (autowarefoundation#6366)
* WIP add new methods for lane departure checker
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* add lanelet polygon check for lane departure
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* use new checkPathWillLeaveLane function
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* working solution, fix union bug
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* Add check fo backwards path
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* delete departure check lanes
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* add lane departure check to geometric pullout
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* merge all union polygon
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
* pre-commit changes
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* move the cheap/fast check first to possibly boost performance
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
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Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Co-authored-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Copy file name to clipboardexpand all lines: planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
Copy file name to clipboardexpand all lines: planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/geometric_pull_out.hpp
Copy file name to clipboardexpand all lines: planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
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@@ -273,6 +273,7 @@ class StartPlannerModule : public SceneModuleInterface
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