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feat(goal_planner): update lateral_deviation_thresh from 0.3 to 0.1 #9850

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merged 5 commits into from
Jan 10, 2025
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feat(goal_planner): update lateral_deviation_thresh from 0.3 to 0.1 #9850

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3e69d29
fix(goal_planner): Update lateral_deviation_thresh from 0.3 to 0.1
Kazunori-Nakajima Jan 8, 2025
b895985
unified hasDeviatedFrom{Last|Current}PreviousModulePath
Kazunori-Nakajima Jan 8, 2025
c3f5a64
style(pre-commit): autofix
pre-commit-ci[bot] Jan 8, 2025
b01d822
hasDeviatedFromPath argument modification
Kazunori-Nakajima Jan 10, 2025
1dbe87e
style(pre-commit): autofix
pre-commit-ci[bot] Jan 10, 2025
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4 changes: 1 addition & 3 deletions ...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,9 +135,7 @@ bool isOnModifiedGoal(
bool hasPreviousModulePathShapeChanged(
const BehaviorModuleOutput & upstream_module_output,
const BehaviorModuleOutput & last_upstream_module_output);
bool hasDeviatedFromLastPreviousModulePath(
const PlannerData & planner_data, const BehaviorModuleOutput & last_upstream_module_output);
bool hasDeviatedFromCurrentPreviousModulePath(
bool hasDeviatedFromPath(
const PlannerData & planner_data, const BehaviorModuleOutput & upstream_module_output);

bool needPathUpdate(
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19 changes: 5 additions & 14 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1878 to 1870, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

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ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.44 to 6.54, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -155,7 +155,7 @@
{
// Calculate the lateral distance between each point of the current path and the nearest point of
// the last path
constexpr double LATERAL_DEVIATION_THRESH = 0.3;
constexpr double LATERAL_DEVIATION_THRESH = 0.1;
for (const auto & p : upstream_module_output.path.points) {
const size_t nearest_seg_idx = autoware::motion_utils::findNearestSegmentIndex(
last_upstream_module_output.path.points, p.point.pose.position);
Expand Down Expand Up @@ -184,18 +184,10 @@
return false;
}

bool hasDeviatedFromLastPreviousModulePath(
const PlannerData & planner_data, const BehaviorModuleOutput & last_upstream_module_output)
{
return std::abs(autoware::motion_utils::calcLateralOffset(
last_upstream_module_output.path.points,
planner_data.self_odometry->pose.pose.position)) > 0.3;
}

bool hasDeviatedFromCurrentPreviousModulePath(
bool hasDeviatedFromPath(
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nits:
planner_data is too heavy to copy, and this function require only
planner_data.self_odometry->pose.pose.position.
so we can use

bool hasDeviatedFromPath(Point & ego_position,

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Point is geometry mesgs

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@Kazunori-Nakajima Kazunori-Nakajima Jan 10, 2025 •
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Thank you very much! I see!
I fixed it.

const PlannerData & planner_data, const BehaviorModuleOutput & upstream_module_output)
{
constexpr double LATERAL_DEVIATION_THRESH = 0.3;
constexpr double LATERAL_DEVIATION_THRESH = 0.1;
return std::abs(autoware::motion_utils::calcLateralOffset(
upstream_module_output.path.points, planner_data.self_odometry->pose.pose.position)) >
LATERAL_DEVIATION_THRESH;
Expand Down Expand Up @@ -373,7 +365,7 @@
local_planner_data->self_odometry->pose.pose, modified_goal_opt, parameters_)) {
return false;
}
if (hasDeviatedFromCurrentPreviousModulePath(*local_planner_data, upstream_module_output)) {
if (hasDeviatedFromPath(*local_planner_data, upstream_module_output)) {
RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path");
return false;
}
Expand All @@ -383,8 +375,7 @@
return true;
}
if (
hasDeviatedFromLastPreviousModulePath(
*local_planner_data, original_upstream_module_output_) &&
hasDeviatedFromPath(*local_planner_data, original_upstream_module_output_) &&
current_state != PathDecisionState::DecisionKind::DECIDED) {
RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path");
return true;
Expand Down
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