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perf(side_shift): fix unupdated prev path #1345

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merged 1 commit into from
Jun 20, 2024
Merged

perf(side_shift): fix unupdated prev path #1345

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1 change: 0 additions & 1 deletion planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,6 @@ class SideShiftModule : public SceneModuleInterface
// member
PathWithLaneId refined_path_{};
PathWithLaneId reference_path_{};
PathWithLaneId prev_reference_{};
lanelet::ConstLanelets current_lanelets_;
std::shared_ptr<SideShiftParameters> parameters_;

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14 changes: 6 additions & 8 deletions planning/behavior_path_side_shift_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -202,9 +202,6 @@ void SideShiftModule::updateData()
const auto reference_pose = prev_output_.shift_length.empty()
? planner_data_->self_odometry->pose.pose
: utils::getUnshiftedEgoPose(getEgoPose(), prev_output_);
if (prev_reference_.points.empty()) {
prev_reference_ = getPreviousModuleOutput().path;
}
if (getPreviousModuleOutput().reference_path.points.empty()) {
return;
}
Expand Down Expand Up @@ -433,13 +430,14 @@ PathWithLaneId SideShiftModule::extendBackwardLength(const PathWithLaneId & orig
const auto backward_length = std::max(
planner_data_->parameters.backward_path_length, longest_dist_to_shift_point + extra_margin);

const auto & prev_reference = getPreviousModuleOutput().path;
const size_t orig_ego_idx = findNearestIndex(original_path.points, getEgoPose().position);
const size_t prev_ego_idx = findNearestSegmentIndex(
prev_reference_.points, getPoint(original_path.points.at(orig_ego_idx)));
const size_t prev_ego_idx =
findNearestSegmentIndex(prev_reference.points, getPoint(original_path.points.at(orig_ego_idx)));

size_t clip_idx = 0;
for (size_t i = 0; i < prev_ego_idx; ++i) {
if (backward_length > calcSignedArcLength(prev_reference_.points, clip_idx, prev_ego_idx)) {
if (backward_length > calcSignedArcLength(prev_reference.points, clip_idx, prev_ego_idx)) {
break;
}
clip_idx = i;
Expand All @@ -448,8 +446,8 @@ PathWithLaneId SideShiftModule::extendBackwardLength(const PathWithLaneId & orig
PathWithLaneId extended_path{};
{
extended_path.points.insert(
extended_path.points.end(), prev_reference_.points.begin() + clip_idx,
prev_reference_.points.begin() + prev_ego_idx);
extended_path.points.end(), prev_reference.points.begin() + clip_idx,
prev_reference.points.begin() + prev_ego_idx);
}

{
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