Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(start_planner): add offset to not finish before engage #4121

Merged
merged 1 commit into from
Jun 30, 2023
Merged

feat(start_planner): add offset to not finish before engage #4121

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -682,7 +682,9 @@
const auto arclength_pull_out_end =
lanelet::utils::getArcCoordinates(status_.current_lanes, status_.pull_out_path.end_pose);

const bool has_finished = arclength_current.length - arclength_pull_out_end.length > 0.0;
// offset to not finish the module before engage
tkimura4 marked this conversation as resolved.
Show resolved Hide resolved
constexpr double offset = 0.1;
const bool has_finished = arclength_current.length - arclength_pull_out_end.length > offset;

Check warning on line 687 in planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp#L687 

Added line #L687 was not covered by tests

return has_finished;
}
Expand Down
Loading