feat(goal_planner): change pull over path candidate priority with soft and hard margins #6412

kosuke55 · 2024-02-14T13:26:53Z

Description

change path priority.

before

shift (soft) → shift (hard) → arc_forward(soft) → arc_forward (hard) → arc_backward (soft) → arc_backward (hard)

after

shift(soft1) → shift(soft2) →…→ arc_forward(soft1) → arc_forward (soft1) → … → arc_backward (soft1) → arc_backward (soft2) → … → shift (hard) → arc_forward(hard) → arc_backward (hard)

tier4 internal ticket
https://tier4.atlassian.net/browse/RT1-4623

Tests performed

psim
https://evaluation.tier4.jp/evaluation/reports/e55d8582-2192-59b9-bbe4-81d8e04d3c81?project_id=prd_jt

Effects on system behavior

Not applicable.

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codecov · 2024-02-14T17:46:44Z

Codecov Report

Attention: 63 lines in your changes are missing coverage. Please review.

Comparison is base (c9e6dda) 14.99% compared to head (cc5436c) 14.99%.
Report is 2 commits behind head on main.

Files	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	55 Missing ⚠️
.../behavior_path_goal_planner_module/src/manager.cpp	0.00%	5 Missing ⚠️
...ior_path_goal_planner_module/src/goal_searcher.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6412      +/-   ##
==========================================
- Coverage   14.99%   14.99%   -0.01%     
==========================================
  Files        1838     1838              
  Lines      127099   127116      +17     
  Branches    38075    38065      -10     
==========================================
  Hits        19062    19062              
- Misses      86715    86732      +17     
  Partials    21322    21322

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.00% <ø> (+<0.01%)`	⬆️	Carriedforward from c9e6dda

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

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…t and hard margins Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> tmp

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

github-actions · 2024-02-15T03:08:13Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6412/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-6412/planning/behavior_path_goal_planner_module/

kosuke55 · 2024-02-15T05:19:12Z

this PR include typo fix not related this PR

kyoichi-sugahara · 2024-02-17T11:48:08Z

planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp

+    const std::vector<double> margins = std::invoke([&]() {
+      std::vector<double> combined_margins = soft_margins;
+      combined_margins.insert(combined_margins.end(), hard_margins.begin(), hard_margins.end());
+      return combined_margins;
+    });
+


Suggested change

const std::vector<double> margins = std::invoke([&]() {

std::vector<double> combined_margins = soft_margins;

combined_margins.insert(combined_margins.end(), hard_margins.begin(), hard_margins.end());

return combined_margins;

});

std::vector<double> margins = soft_margins;

margins.insert(margins.end(), hard_margins.begin(), hard_margins.end());

[super nits] simpler?

I like const...

kyoichi-sugahara

LGTM!

…t and hard margins (autowarefoundation#6412) * feat(goal_planner): change pull over path candidate priority with soft and hard margins Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> tmp * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…t and hard margins (#6412) * feat(goal_planner): change pull over path candidate priority with soft and hard margins Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> tmp * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…t and hard margins (autowarefoundation#6412) * feat(goal_planner): change pull over path candidate priority with soft and hard margins Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> tmp * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 requested review from danielsanchezaran, rej55, soblin, maxime-clem, satoshi-ota, shmpwk, TakaHoribe, takayuki5168, tkimura4, zulfaqar-azmi-t4, kyoichi-sugahara and TomohitoAndo as code owners February 14, 2024 13:26

kosuke55 assigned kyoichi-sugahara Feb 14, 2024

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Feb 14, 2024

kosuke55 assigned soblin Feb 14, 2024

kosuke55 mentioned this pull request Feb 14, 2024

feat(goal_planner): change pull over path candidate priority with soft and hard margins autowarefoundation/autoware_launch#874

Merged

4 tasks

kosuke55 force-pushed the feet/goal_planner_soft_hard_margin branch 2 times, most recently from 387e5f0 to 4cf21a2 Compare February 14, 2024 14:58

kosuke55 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 14, 2024

kosuke55 force-pushed the feet/goal_planner_soft_hard_margin branch from 4cf21a2 to fd548fe Compare February 14, 2024 17:21

soblin added the tag:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Feb 15, 2024

kosuke55 added 2 commits February 15, 2024 12:04

feat(goal_planner): change pull over path candidate priority with sof…

9497f5d

…t and hard margins Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> tmp

fix typo

cc5436c

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

kosuke55 force-pushed the feet/goal_planner_soft_hard_margin branch from fd548fe to cc5436c Compare February 15, 2024 03:04

kyoichi-sugahara reviewed Feb 17, 2024

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kyoichi-sugahara approved these changes Feb 17, 2024

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soblin approved these changes Feb 20, 2024

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soblin merged commit bad6680 into autowarefoundation:main Feb 20, 2024
27 of 32 checks passed

soblin deleted the feet/goal_planner_soft_hard_margin branch February 20, 2024 11:13

soblin mentioned this pull request Feb 21, 2024

fix(start_planner): start prepare blinker when autonomous mode is available #6470

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feat(goal_planner): change pull over path candidate priority with soft and hard margins #6412

feat(goal_planner): change pull over path candidate priority with soft and hard margins #6412

kosuke55 commented Feb 14, 2024 •

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feat(goal_planner): change pull over path candidate priority with soft and hard margins #6412

feat(goal_planner): change pull over path candidate priority with soft and hard margins #6412

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kosuke55 commented Feb 14, 2024 • edited Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

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codecov bot commented Feb 14, 2024 • edited Loading

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kosuke55 commented Feb 15, 2024

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kosuke55 commented Feb 14, 2024 •

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