refactor(goal_planner): add rss safety check function #5620
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kosuke55
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| return std::any_of( | ||
| obj_predicted_paths.begin(), obj_predicted_paths.end(), [&](const auto & obj_path) { | ||
| const bool is_collision = !utils::path_safety_checker::checkCollision( |
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[NITS] I prefer has_collision rathar than is_collision
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both seem to exist
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but I also prefer has so fixed
kyoichi-sugahara
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…tion#5620) * refactor(goal_planner): add rss safety check function Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * has_collision Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
refactoring and add checkSafetyWithRSS
Tests performed
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Effects on system behavior
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