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feat(lanelet2_extension): overwriteLaneletsCenterline supports "waypoints" #252
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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| if (use_waypoints) { | ||
| if (lanelet_obj.hasCustomCenterline()) { | ||
| const auto & centerline = lanelet_obj.centerline(); | ||
| lanelet_obj.setAttribute("waypoints", centerline.id()); | ||
| } | ||
|
|
||
| const auto fine_center_line = generateFineCenterline(lanelet_obj, resolution); | ||
| lanelet_obj.setCenterline(fine_center_line); |
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I'm a bit concerned that the function start to exceed what it was originally designed for.
Is it necessary to move the customized center line to waypoints at runtime?
/**
* @brief Apply a patch for centerline because the original implementation
* doesn't have enough quality
*/
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| @@ -501,12 +501,28 @@ lanelet::ConstLanelets getExpandedLanelets( | |||
| } | |||
|
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| void overwriteLaneletsCenterline( | |||
| lanelet::LaneletMapPtr lanelet_map, const double resolution, const bool force_overwrite) | |||
| lanelet::LaneletMapPtr lanelet_map, const double resolution, const bool use_waypoints, | |||
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Just as a comment, since the third argument of the function has changed it's meaning, we should make sure that any other code that uses force_overwrite argument should be merged at the same time as this PR.
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@takayuki5168 Have you checked if the codes in autoware.universe and autoware_tools are fine with the modification?
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Thank you for the review.
Yes, I've already checked. The following PR is the change for the universe.
https://github.com/autowarefoundation/autoware.universe/pull/7480/files
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
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Description
The Autoware's usage of the centerline has several limitations.
By introducing a
waypointsflag in theoverwriteLaneletsCenterlinefunction to handle the centerline, the limitations are solved.Please see the document in this PR in detail.
NOTE: This PR includes the fix for clang-tidy in the lanelet2_extension_python package.
Tests performed
Unit test
Effects on system behavior
Nothing
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