fix(obstacle_avoidance_planner): fix inf loop in mpt #127
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Additional details and impacted files@@ Coverage Diff @@
## beta/v0.3.9 #127 +/- ##
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Coverage ? 0.00%
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Files ? 16
Lines ? 2872
Branches ? 0
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Hits ? 0
Misses ? 2872
Partials ? 0
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| @@ -1025,6 +1025,19 @@ Trajectories ObstacleAvoidancePlanner::optimizeTrajectory( | |||
| return getPrevTrajs(path.points); | |||
| } | |||
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| // NOTE: Elastic band sometimes diverges with status = "OSQP_SOLVED". | |||
| constexpr double max_path_change_diff = 1.0e4; | |||
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こちらの値どのように決定したのでしょうか？
今回の発生した事象から決めた値でしょうか？
PRかチケットに決定した過程等記載いただくと今後なにかあった際に助かると思います。
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そのとおりですね、すみません。
rosbagしかもらっていないのでチケットのリンク分からないためこちらで失礼します。
1e7レベルのオーダーでずれていたので、それより小さく、また現実的な値 (現状のAutowareでは大きくても1e1)の間を取って1e4としました。かなりテンポラリな値です。
Descriptionにも同じ事書きます。
YoheiMishina
approved these changes
Sep 29, 2022
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Description
porting autowarefoundation#1881
不具合により、出力経路と参照経路が1e7レベルのオーダーでずれていたので、それより小さく、また現実的な値 (現状のAutowareでは大きくても1e1)の間を取って1e4としました。かなりテンポラリな値です。
fix inf loop in mpt because of diverged elastic band
Related Links
https://tier4.atlassian.net/browse/EVT4-2059
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