fix(geometric_parallel_parking): increase max dist threshold for geom pullout (#1311)

Owen-Liuyuxuan · danielsanchezaran · web-flow · commit 2d970fdcc1f9 · 2024-05-24T11:50:20.000+09:00
increase max dist threshold for geom pullout

Signed-off-by: Daniel Sanchez &lt;danielsanchezaran@gmail.com&gt;
Co-authored-by: Daniel Sanchez &lt;danielsanchezaran@gmail.com&gt;
diff --git a/planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -284,7 +284,8 @@ bool GeometricParallelParking::planPullOut(
     const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(
       tf2::getYaw(road_path_first_pose.orientation) - tf2::getYaw(arc_path_last_pose.orientation)));
     const double distance = calcDistance2d(road_path_first_pose, arc_path_last_pose);
-    if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) || distance > 0.1) {
+    constexpr double max_distance_to_centerline = 0.3;
+    if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) || distance > max_distance_to_centerline) {
       continue;
     }
 

Original file line number	Diff line number	Diff line change
`@@ -284,7 +284,8 @@ bool GeometricParallelParking::planPullOut(`
`284`	`284`	`const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(`
`285`	`285`	`tf2::getYaw(road_path_first_pose.orientation) - tf2::getYaw(arc_path_last_pose.orientation)));`
`286`	`286`	`const double distance = calcDistance2d(road_path_first_pose, arc_path_last_pose);`
`287`		`- if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) \|\| distance > 0.1) {`
	`287`	`+ constexpr double max_distance_to_centerline = 0.3;`
	`288`	`+ if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) \|\| distance > max_distance_to_centerline) {`
`288`	`289`	`continue;`
`289`	`290`	`}`
`290`	`291`