fix(goal_planner): fix parking_path curvature and DecidingState transition #9022
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Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
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| @@ -73,7 +73,7 @@ std::optional<PullOverPath> PullOverPath::create( | |||
| double parking_path_max_curvature{}; | |||
| std::tie(full_path_curvatures, full_path_max_curvature) = calculateCurvaturesAndMax(full_path); | |||
| std::tie(parking_path_curvatures, parking_path_max_curvature) = | |||
| calculateCurvaturesAndMax(full_path); | |||
| calculateCurvaturesAndMax(parking_path); | |||
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I was using full_path for calculating the curvature of parking_path by mistake
| PathDecisionState current_state_{}; | ||
| PathDecisionState prev_state_{}; | ||
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| /** | ||
| * @brief update current state and save old current state to prev state |
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Only prev_state_.stamp was used for saving the time when DECIDING state started.
So I deleted prev_state_ and save deciding_start_time instead.
| @@ -2766,10 +2779,15 @@ PathDecisionState PathDecisionStateController::get_next_state( | |||
| // if object recognition for path collision check is enabled, transition to DECIDING to check | |||
| // collision for a certain period of time. Otherwise, transition to DECIDED directly. | |||
| if (parameters.use_object_recognition) { | |||
| next_state.state = PathDecisionState::DecisionKind::DECIDED; | |||
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In prior PR, I mistakenly changed the next state to DECIDED. DECIDING is correct for this case.
| "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " | ||
| "period of time"); | ||
| next_state.state = PathDecisionState::DecisionKind::DECIDING; | ||
| next_state.deciding_start_time = now; |
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fixedto return DECIDING as the next state.
soblin
requested review from
danielsanchezaran,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
TomohitoAndo and
tkimura4
as code owners
soblin
added
the
tag:run-build-and-test-differential
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9022 +/- ##
==========================================
- Coverage 26.19% 26.17% -0.02%
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Files 1302 1306 +4
Lines 96917 96980 +63
Branches 39174 39185 +11
==========================================
Hits 25388 25388
- Misses 68959 69018 +59
- Partials 2570 2574 +4
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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