RJD-1337 Fix getQuadraticAccelerationDuration returning negative duration

[gmajrobotec]

Description

Abstract

Function getQuadraticAccelerationDuration can return a negative duration. It is possible because getQuadraticAccelerationDurationWithConstantJerk is being invoked if-and-only-if v and target_speed are almost equal, which does not seem correct. This part of the code also seems incongruent with the comments in code below:

scenario_simulator_v2/simulation/traffic_simulator/src/behavior/longitudinal_speed_planning.cpp

Lines 185 to 193 in a7e29ef

	// While quadratic acceleration, the entity does not reached the target speed.
	if (std::abs(v - target_speed) >= 0.01) {
	return duration;
	}
	// While quadratic acceleration, the entity reached the target speed.
	else {
	return getQuadraticAccelerationDurationWithConstantJerk(
	target_speed, constraints, current_twist, current_accel);
	}

scenario_simulator_v2/simulation/traffic_simulator/src/behavior/longitudinal_speed_planning.cpp

Lines 197 to 207 in a7e29ef

	double v = getVelocityWithConstantJerk(
	current_twist, current_accel, -constraints.max_deceleration_rate, duration);
	// While quadratic acceleration, the entity does not reached the target speed.
	if (std::abs(v - target_speed) >= 0.01) {
	return duration;
	}
	// While quadratic acceleration, the entity reached the target speed.
	else {
	return getQuadraticAccelerationDurationWithConstantJerk(
	target_speed, constraints, current_twist, current_accel);
	}

Details

Comparison if (std::abs(v - target_speed) >= 0.01) in getQuadraticAccelerationDuration is changed to if (v < target_speed) ensuring return duration is not negative.

References

Jira ticket: internal link

Destructive Changes

There are no destructive changes.

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[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
50.0% Coverage on New Code
0.0% Duplication on New Code

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