fix(goal_planner): invert lane boundary of neighbor opposite lanelets when generating departure check lane #10207
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MertClk
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10207 +/- ##
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- Coverage 26.24% 26.23% -0.02%
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Files 1378 1378
Lines 107485 107532 +47
Branches 41443 41445 +2
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- Hits 28210 28208 -2
- Misses 76453 76502 +49
Partials 2822 2822
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@danielsanchezaran @kosuke55 @kyoichi-sugahara @soblin @satoshi-ota @shmpwk @TomohitoAndo @tkimura4 I’d be grateful if you could review this PR when it’s convenient for you. Thank you in advance! |
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thanks!!! I will check! |
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@kosuke55 just a friendly ping on this PR whenever you have a moment. Appreciate your time! |
… when generating departure check lane Signed-off-by: Mert Çolak <[email protected]>
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Description
When creating departure_check_lane for the search function in goal_searcher. If the inner lane is opposite, it should be inverted before generating the new lane. Otherwise, the generated polygon for departure_check_lane can not be used with "within" function.
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After PR
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Parent Issue:
How was this PR tested?
PSim
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.