fix(autoware_behavior_path_planner_common): modify geometric parallel parking path planning #9622
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Signed-off-by: Takumi Ito <[email protected]>
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| double alpha; | ||
| if (is_forward) { | ||
| alpha = | ||
| left_side_parking | ||
| ? M_PI_2 + psi + std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit) | ||
| : M_PI_2 - psi - | ||
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | ||
| } else { | ||
| alpha = | ||
| left_side_parking | ||
| ? M_PI_2 - psi + std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit) | ||
| : M_PI_2 + psi - | ||
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | ||
| } |
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too many std::asin((self_point_goal_coords.y - C_far_goal_coords.y)
Comment on lines
403
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416
| double alpha; | ||
| if (is_forward) { | ||
| alpha = | ||
| left_side_parking | ||
| ? M_PI_2 + psi + std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit) | ||
| : M_PI_2 - psi - | ||
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | ||
| } else { | ||
| alpha = | ||
| left_side_parking | ||
| ? M_PI_2 - psi + std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit) | ||
| : M_PI_2 + psi - | ||
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | ||
| } |
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Suggested change
| double alpha; | |
| if (is_forward) { | |
| alpha = | |
| left_side_parking | |
| ? M_PI_2 + psi + std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit) | |
| : M_PI_2 - psi - | |
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | |
| } else { | |
| alpha = | |
| left_side_parking | |
| ? M_PI_2 - psi + std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit) | |
| : M_PI_2 + psi - | |
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | |
| } | |
| const double angle_offset = | |
| std::asin((self_point_goal_coords.y - C_far_goal_coords.y) / d_C_far_Einit); | |
| const double alpha = M_PI_2 + (left_side_parking ? 1.0 : -1.0) * | |
| (is_forward ? psi + angle_offset : -psi + angle_offset); |
is this same?
I am not sure that angle_offset is appropriate name, so please replace
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It's the same procedure, and the parameter name sounds good to me.
Signed-off-by: Takumi Ito <[email protected]>
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Description
Modify the weird path generation of geometric parallel parking. The alpha calculation was wrong and must be computed according to forward or backward parking.
Moreover, this PR includes modification of a useless boundary check (check for the opposite side of the shoulder).
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None.
Interface changes
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Effects on system behavior
None.