From 4cb6f103f72250f3c72e8cc4d793d419a51fed41 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 18 Nov 2024 11:31:09 +0900 Subject: [PATCH] feat(goal_planner): output velocity factor (#9348) Signed-off-by: satoshi-ota --- .../src/goal_planner_module.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index f69a0fe2c0a4..4204d8177c5b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -135,6 +135,7 @@ GoalPlannerModule::GoalPlannerModule( } steering_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); + velocity_factor_interface_.init(PlanningBehavior::GOAL_PLANNER); /** * NOTE: Add `universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);` to functions called @@ -1468,6 +1469,8 @@ void GoalPlannerModule::postProcess() setStopReason(StopReason::GOAL_PLANNER, pull_over_path.full_path()); + setVelocityFactor(pull_over_path.full_path()); + context_data_ = std::nullopt; }