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@github-actions github-actions released this 07 Nov 05:29
· 243 commits to master since this release
4.4.0
89e022a

Abstract

This pull requests fixes issue described here

Details

  1. Simplification of HdMapUtils::getLongitudinalDistance function logic, while retaining its functionalify.
  2. Additional matching: previously matching occurred at the starts of the lanelets, now matching is also performed at 0.5 * min(from_lanelet, to_lanelet) to cover the corner case (please see the mentioned issue description).
  3. Additional unit tests for the modified function.
  4. During development i have decided that using the first instead of the second approach is far superior (refer to this discussion)
  • This approach produces cleaner code in general.
  • This approach does not require modification of the underlying centerline's math::geometry::CatmullRomSpline.
  • The working POC of the first approach is still implemented in the first commit of this PR.
  1. Docs have been updated accordingly.
  2. Some recurring scenario conditions have been updated. Currently, majority of these conditions are too precise, this disallows any changes in the calculations.

References

#1364
Jira ticket

Related Issues

Assets 2
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