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refactor(behavior_velocity_planner): output path's interval can be designated by yaml #6023

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merged 1 commit into from
Jan 9, 2024
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refactor(behavior_velocity_planner): output path's interval can be designated by yaml #6023

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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
ros__parameters:
forward_path_length: 1000.0
backward_path_length: 5.0
behavior_output_path_interval: 1.0
stop_line_extend_length: 5.0
max_accel: -2.8
max_jerk: -5.0
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4 changes: 3 additions & 1 deletion planning/behavior_velocity_planner/src/node.cpp
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Expand Up @@ -138,6 +138,7 @@
// Parameters
forward_path_length_ = declare_parameter<double>("forward_path_length");
backward_path_length_ = declare_parameter<double>("backward_path_length");
behavior_output_path_interval_ = declare_parameter<double>("behavior_output_path_interval");

Check warning on line 141 in planning/behavior_velocity_planner/src/node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode increases from 71 to 72 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
planner_data_.stop_line_extend_length = declare_parameter<double>("stop_line_extend_length");

// nearest search
Expand Down Expand Up @@ -409,7 +410,8 @@
const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path));

// interpolation
const auto interpolated_path_msg = interpolatePath(filtered_path, forward_path_length_);
const auto interpolated_path_msg =
interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);

// check stop point
output_path_msg = filterStopPathPoint(interpolated_path_msg);
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1 change: 1 addition & 0 deletions planning/behavior_velocity_planner/src/node.hpp
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Expand Up @@ -102,6 +102,7 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
// parameter
double forward_path_length_;
double backward_path_length_;
double behavior_output_path_interval_;

// member
PlannerData planner_data_;
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3 changes: 1 addition & 2 deletions ..._planner_common/include/behavior_velocity_planner_common/utilization/path_utilization.hpp
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Expand Up @@ -28,8 +28,7 @@ bool splineInterpolate(
const autoware_auto_planning_msgs::msg::PathWithLaneId & input, const double interval,
autoware_auto_planning_msgs::msg::PathWithLaneId & output, const rclcpp::Logger logger);
autoware_auto_planning_msgs::msg::Path interpolatePath(
const autoware_auto_planning_msgs::msg::Path & path, const double length,
const double interval = 1.0);
const autoware_auto_planning_msgs::msg::Path & path, const double length, const double interval);
autoware_auto_planning_msgs::msg::Path filterLitterPathPoint(
const autoware_auto_planning_msgs::msg::Path & path);
autoware_auto_planning_msgs::msg::Path filterStopPathPoint(
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