refactor(goal_planner): reduce call to isSafePath #8812
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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]>
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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Signed-off-by: Mamoru Sobue <[email protected]>
kosuke55
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Sep 10, 2024
Comment on lines
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| const auto & context_data = context_data_.has_value() | ||
| ? context_data_.value() | ||
| : PullOverContextData(std::make_pair(true, true)); |
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Suggested change
| const auto & context_data = context_data_.has_value() | |
| ? context_data_.value() | |
| : PullOverContextData(std::make_pair(true, true)); | |
| const auto context_data = context_data_.has_value() | |
| ? context_data_.value() | |
| : PullOverContextData(std::make_pair(true, true)); |
temporary object should not be bound
| if ( | ||
| hasDeviatedFromLastPreviousModulePath(local_planner_data) && | ||
| // TODO(soblin): |
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please writer the details of todo
kosuke55
reviewed
Sep 10, 2024
| @@ -505,6 +516,9 @@ class GoalPlannerModule : public SceneModuleInterface | |||
| // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable | |||
| mutable ThreadSafeData thread_safe_data_; | |||
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| // TODO(soblin): organize part of thread_safe_data and previous data to PullOverContextData | |||
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agree!
struct PreviousPullOverData
{
struct SafetyStatus
{
std::optional<rclcpp::Time> safe_start_time{};
bool is_safe{false};
};
void reset()
{
safety_status = SafetyStatus{};
deciding_path_status = DecidingPathStatusWithStamp{};
}
SafetyStatus safety_status{};
DecidingPathStatusWithStamp deciding_path_status{};
};
is similar to ContextData
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I will move PreviousPullOverData later in coming PRs.
kosuke55
reviewed
Sep 10, 2024
| if (!context_data_) { | ||
| RCLCPP_ERROR(getLogger(), " [pull_over] postProcess() is called without valid context_data"); | ||
| } | ||
| const auto & context_data = context_data_.has_value() |
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Suggested change
| const auto & context_data = context_data_.has_value() | |
| const auto context_data = context_data_.has_value() |
| RCLCPP_ERROR( | ||
| getLogger(), " [pull_over] planWaitingApproval() is called without valid context_data"); | ||
| } | ||
| const auto & context_data = context_data_.has_value() |
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Suggested change
| const auto & context_data = context_data_.has_value() | |
| const auto context_data = context_data_.has_value() |
Signed-off-by: Mamoru Sobue <[email protected]>
|
I applied suggestions |
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run:build-and-test-differential
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8812 +/- ##
==========================================
- Coverage 25.23% 25.22% -0.01%
==========================================
Files 1325 1329 +4
Lines 98827 98878 +51
Branches 39682 39691 +9
==========================================
+ Hits 24939 24943 +4
- Misses 71327 71378 +51
+ Partials 2561 2557 -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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Description
depends #8795
Related links
How was this PR tested?
https://evaluation.tier4.jp/evaluation/reports/98dbc36e-c79a-53f0-a930-5aac27de1c95?project_id=prd_jt
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.