feat(obstacle_avoidance_planner): check footprint with boost::geometry::intersection #1999

beyzanurkaya · 2022-09-30T14:23:04Z

Description

This PR was created to add a different approach to checking that the footprint of the vehicle is within the drivable area.

Fixes: #1716

before this PR, 175 needs to merge

Tests performed

I was using boost::geometry::intersection as a separate approach at the first place. But the current version already uses the boost library so it doesn't make sense to add my approach as an option. It makes more sense to combine the current approach and my approach. Because both approaches have limitations;

Current version's limitation:

In current version the corners of the footprint are checked. But like in following diagram if the vehicle is long enough, corners can be in the drivable area but body of vehicle is outside the drivable area. So it need a second check.

If you set is_considering_footprint_edges param false:

no-stop.mp4

New version's limitation:

In the new version, it is checked whether there is an intersection between the vehicle and the drivable area. if there is an intersection, it is concluded that the vehicle is outside the driveable area as it is on the driveable area boundaries. But, when the vehicle is completely outside the drivable area boundaries, there will be no intersection and in this approach the vehicle will be considered in the drivable area. however, the vehicle is outside the drivable area as shown in the following diagram.

If you set is_considering_footprint_edges param true:

stop.mp4

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beyzanurkaya · 2022-10-03T06:53:55Z

@takayuki5168

When you create a PR of checking footprint's collision check, could you add an option to use the current collision check?

I didn't understand exactly what you mean. Should I create a new function or check it in the same function?

takayuki5168 · 2022-10-03T06:58:31Z

@beyzanurkaya
I wanted to say I want a flag of a ros paramter for which collision check algorithm to use, the currently implemented one or new one you will implement.

beyzanurkaya · 2022-10-04T13:21:26Z

I'm gonna add an option parameter if you want to use boost.intersection for check footprint. Also I tried to compare footprint area intersection area so if those have close value I can say footprint is in drivable area. But even though there is intersection between footprint and drivable area, intersection area is zero. I tried to figure out why.

codecov · 2022-10-12T13:42:33Z

Codecov Report

Base: 11.37% // Head: 11.34% // Decreases project coverage by -0.04% ⚠️

Coverage data is based on head (2bfe536) compared to base (b38fa6a).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1999      +/-   ##
==========================================
- Coverage   11.37%   11.34%   -0.04%     
==========================================
  Files        1277     1277              
  Lines       89284    89807     +523     
  Branches    23649    24076     +427     
==========================================
+ Hits        10158    10186      +28     
- Misses      68354    68811     +457     
- Partials    10772    10810      +38

Flag	Coverage Δ		*Carryforward flag
differential	`17.39% <0.00%> (?)`
total	`11.37% <0.00%> (ø)`		Carriedforward from fe8d090

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...lanner/include/obstacle_avoidance_planner/node.hpp	`0.00% <ø> (ø)`
...include/obstacle_avoidance_planner/utils/utils.hpp	`36.47% <ø> (ø)`
planning/obstacle_avoidance_planner/src/node.cpp	`0.17% <0.00%> (+0.05%)`	⬆️
...ing/obstacle_avoidance_planner/src/utils/utils.cpp	`11.97% <0.00%> (+1.59%)`	⬆️

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beyzanurkaya · 2022-10-19T06:54:57Z

@takayuki5168 it's ready for review :)

mitsudome-r · 2022-11-01T15:33:12Z

@TakaHoribe Could you assign a person to review?

...ane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

beyzanurkaya · 2023-01-17T08:30:41Z

@mehmetdogru @takayuki5168 @mitsudome-r I updated the code and description.

maxime-clem · 2023-01-17T10:38:03Z

planning/obstacle_avoidance_planner/src/utils/utils.cpp

+    right_bound_line.push_back({p.x, p.y});
+  }
+
+  back_bound_line = {left_bound_line.front(), right_bound_line.front()};


I think there is a mistake here and the front is used instead of the back.

Suggested change

back_bound_line = {left_bound_line.front(), right_bound_line.front()};

back_bound_line = {left_bound_line.back(), right_bound_line.back()};

planning/obstacle_avoidance_planner/src/utils/utils.cpp

…ry::intersection Signed-off-by: beyza <bnk@leodrive.ai>

Signed-off-by: beyza <bnk@leodrive.ai>

planning/obstacle_avoidance_planner/src/utils/utils.cpp

takayuki5168

LGTM

planning/obstacle_avoidance_planner/src/utils/utils.cpp

Signed-off-by: beyza <bnk@leodrive.ai>

…y::intersection (autowarefoundation#1999) * feat(obstacle_avoidance_planner): add second check with boost::geometry::intersection Signed-off-by: beyza <bnk@leodrive.ai> * add is_considering_footprint_edges param Signed-off-by: beyza <bnk@leodrive.ai> * ci(pre-commit): autofix * add description Signed-off-by: beyza <bnk@leodrive.ai> * add false return Signed-off-by: beyza <bnk@leodrive.ai> Signed-off-by: beyza <bnk@leodrive.ai> Co-authored-by: beyza <bnk@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…y::intersection (autowarefoundation#1999) * feat(obstacle_avoidance_planner): add second check with boost::geometry::intersection Signed-off-by: beyza <bnk@leodrive.ai> * add is_considering_footprint_edges param Signed-off-by: beyza <bnk@leodrive.ai> * ci(pre-commit): autofix * add description Signed-off-by: beyza <bnk@leodrive.ai> * add false return Signed-off-by: beyza <bnk@leodrive.ai> Signed-off-by: beyza <bnk@leodrive.ai> Co-authored-by: beyza <bnk@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch 2 times, most recently from 05b7a3e to b6f1108 Compare September 30, 2022 14:26

beyzanurkaya changed the title ~~1716 check footprint with boost intersection~~ feat(obstacle_avoidance_planner):check footprint with boost intersection#1716 Oct 3, 2022

beyzanurkaya changed the title ~~feat(obstacle_avoidance_planner):check footprint with boost intersection#1716~~ feat(obstacle_avoidance_planner):check footprint with boost intersection Oct 3, 2022

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch from 5201e9d to 6cfba93 Compare October 12, 2022 13:20

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch 2 times, most recently from bd41a0e to 74e5cbf Compare October 18, 2022 15:43

beyzanurkaya marked this pull request as ready for review October 18, 2022 15:48

beyzanurkaya requested review from takayuki5168, rej55, kosuke55, kyoichi-sugahara, mkuri, soblin, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, TomohitoAndo, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners October 18, 2022 15:48

mitsudome-r mentioned this pull request Oct 25, 2022

Checking only 4 corners in the drivable area #1716

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mitsudome-r reviewed Nov 1, 2022

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beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch 4 times, most recently from 7fba151 to 097bdbe Compare January 17, 2023 07:29

github-actions bot removed the type:documentation Creating or refining documentation. (auto-assigned) label Jan 17, 2023

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch 2 times, most recently from 4d5255b to 13ea0bd Compare January 17, 2023 07:33

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch from a80b91e to 13ea0bd Compare January 17, 2023 09:23

maxime-clem reviewed Jan 17, 2023

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beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch 2 times, most recently from 25da499 to 3c43118 Compare January 17, 2023 11:19

takayuki5168 reviewed Jan 18, 2023

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beyzanurkaya added 2 commits January 19, 2023 10:20

feat(obstacle_avoidance_planner): add second check with boost::geomet…

4818bb0

…ry::intersection Signed-off-by: beyza <bnk@leodrive.ai>

add is_considering_footprint_edges param

63a3c14

Signed-off-by: beyza <bnk@leodrive.ai>

beyzanurkaya mentioned this pull request Jan 19, 2023

feat(autoware_launch): add param for considering footprint edges when check the drivable area autowarefoundation/autoware_launch#175

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beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch from 3c43118 to 63a3c14 Compare January 19, 2023 08:48

ci(pre-commit): autofix

ad280ca

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch 2 times, most recently from 36359a8 to ad280ca Compare January 19, 2023 09:57

add description

fe8d090

Signed-off-by: beyza <bnk@leodrive.ai>

takayuki5168 reviewed Jan 19, 2023

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takayuki5168 approved these changes Jan 23, 2023

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add false return

2bfe536

Signed-off-by: beyza <bnk@leodrive.ai>

beyzanurkaya force-pushed the 1716-check-footprint-with-boost-intersection branch from 398d089 to 2bfe536 Compare January 23, 2023 17:35

beyzanurkaya merged commit bc370f2 into main Jan 23, 2023

beyzanurkaya deleted the 1716-check-footprint-with-boost-intersection branch January 23, 2023 18:24

tier4-autoware-public-bot bot mentioned this pull request Jan 24, 2023

chore: sync upstream tier4/autoware.universe#254

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feat(obstacle_avoidance_planner): check footprint with boost::geometry::intersection #1999

feat(obstacle_avoidance_planner): check footprint with boost::geometry::intersection #1999

beyzanurkaya commented Sep 30, 2022 •

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	back_bound_line = {left_bound_line.front(), right_bound_line.front()};
	back_bound_line = {left_bound_line.back(), right_bound_line.back()};

feat(obstacle_avoidance_planner): check footprint with boost::geometry::intersection #1999

feat(obstacle_avoidance_planner): check footprint with boost::geometry::intersection #1999

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beyzanurkaya commented Sep 30, 2022 • edited Loading

Description

Tests performed

Current version's limitation:

New version's limitation:

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

beyzanurkaya commented Oct 3, 2022

takayuki5168 commented Oct 3, 2022

beyzanurkaya commented Oct 4, 2022

codecov bot commented Oct 12, 2022 • edited Loading

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beyzanurkaya commented Oct 19, 2022

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beyzanurkaya commented Sep 30, 2022 •

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