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feat(lane_change): update resamplePath function for target section (#2622) #239

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merged 1 commit into from
Jan 11, 2023

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tkimura4
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@tkimura4 tkimura4 commented Jan 11, 2023

Description

autowarefoundation#2622
Hotfix to beta/v0.7.0

To reduce the computational cost of the LaneChange module, the target_section is introduced for the spline resampling.
Run on psim. The Hz increases from 1.8Hz to 4.4Hz when making lane change path candidate with 10m/s ego speed.

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…utowarefoundation#2622)

* feat(lane_change): update resamplePath function for target section

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix: apply pre-commit

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@zulfaqar-azmi-t4
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zulfaqar-azmi-t4 commented Jan 11, 2023

sorry, I've accidentally closed the topic

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codecov-commenter commented Jan 11, 2023

Codecov Report

❗ No coverage uploaded for pull request base (beta/v0.7.0@9d736c4). Click here to learn what that means.
Patch has no changes to coverable lines.

Additional details and impacted files
@@              Coverage Diff              @@
##             beta/v0.7.0    #239   +/-   ##
=============================================
  Coverage               ?   3.09%           
=============================================
  Files                  ?      68           
  Lines                  ?    7982           
  Branches               ?    3827           
=============================================
  Hits                   ?     247           
  Misses                 ?    7523           
  Partials               ?     212           
Flag Coverage Δ
differential 3.09% <0.00%> (?)

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@tkimura4 tkimura4 merged commit c622357 into beta/v0.7.0 Jan 11, 2023
@tkimura4 tkimura4 deleted the fix/lane-change-resample-target-section branch January 11, 2023 04:21
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5 participants