fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #8995
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mraditya01
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maxime-clem
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Oct 3, 2024
| double x3 = points[2].x(); | ||
| double y3 = points[2].y(); | ||
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| return std::abs((x1 * (y2 - y3) + x2 * (y3 - y1) + x3 * (y1 - y2)) / 2.0); |
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Can you add a source for this formula ?
Or if this function is only needed for the test then just use boost::geometry::area in the tests.
| return std::abs((x1 * (y2 - y3) + x2 * (y3 - y1) + x3 * (y1 - y2)) / 2.0); | ||
| } | ||
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| double calculate_total_triangle(const std::vector<autoware::universe_utils::Polygon2d> & triangles) |
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the name of this function is not clear.
I also think it only needs to be defined in the tests.
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Ok, I will move the function to test and use boost::geometry::area instead
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Description
Fix two issues in autoware_utils:
Self-intersecting polygons in random_concave_generator: fix
is_validfunction to properly validate inserted edges.Handling empty inners() during triangulation: ensures that empty inners() are properly handled in the triangulation process.
Related links
How was this PR tested?
colcon test --packages-select autoware_universe_utilsNotes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.