fix(behavior_path_planner): copy z in dynamic drivable area expansion #4120
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4120 +/- ##
==========================================
+ Coverage 14.35% 14.38% +0.03%
==========================================
Files 1569 1569
Lines 107999 107815 -184
Branches 31243 31257 +14
==========================================
+ Hits 15501 15510 +9
+ Misses 75645 75445 -200
- Partials 16853 16860 +7
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| const auto ratio = (s_to - s_from_prev) / (s_from - s_from_prev); | ||
| to[i_to].z = from[i_from - 1].z + ratio * (from[i_from].z - from[i_from - 1].z); |
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You can use linear interpolation library from interpolation package
https://github.com/autowarefoundation/autoware.universe/tree/main/common/interpolation
Also, I guess you have to add a guard when s_from=s_from_prev
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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…autowarefoundation#4120) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
When the drivable area is dynamically expanded, the z values were set to 0.
This PR fixes this issue by copying the z values from the original drivable area.
Tests performed
Tested in Psim
Effects on system behavior
None
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