1043 Handle crossing paths in path follow #1058
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- the nearest point search is can be started at any point and limited to a given number of points. This is so we can handle crossover paths. - the track that is returned can be configured for how many points ahead and behind the nearest point should be included
- update inputs and outputs to match new CTE.run() method - update CTE constructor to take configuration for path search - update run method to accept from_pt and return closest_pt to maintain the search offset.
- when we reset the origin we need to reset the starting search index of the cte algorithm
- start origin at (0,0) - test makes sure origin translation is applied - test makes sure the closest point is reset when origin is reset
DocGarbanzo
reviewed
Nov 26, 2022
DocGarbanzo
reviewed
Nov 26, 2022
|
@DocGarbanzo thank you for those comments. I updated the code and responded in comments. |
DocGarbanzo
approved these changes
Nov 26, 2022
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Issue #1043
Update the path_follow template so that it can handle paths that have cross-overs. The current code tests every point in the path to find the closest point. This means that it is possible that a point on a cross-over going in the opposite direction may get selected. The approach to fix this is to make the search start at the most recent closest point and limit the search to a configurable number of points. So for instance, consider a perfectly symmetrical figure 8 path with 1000 waypoints in the path whose origin is at the top of the figure 8; then the intersection as at point 250 and point 750. If we limit the search to 250 points then only 1/4 of the path will be searched. If we have driving to the intersection from then origin, then if we are at the the 250th point. We would then search from point 250 to point 500, and so we never get close the other intersection point at 750.
To implement this we updated these parts:
Update CTE part
Update OriginOffset part
We then updated the path_follow.py template to use the updated parts and we updated cfg_path_follow.py to include configuration for number of search points, as well as the number of look ahead and look behind points used to calculate the track to follow.