feat(map_based_prediction): refactoring map based prediction

perception/map_based_prediction/CMakeLists.txt

@@ -6,6 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
   set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
@@ -16,12 +17,13 @@ ament_auto_find_build_dependencies()
 find_package(Eigen3 REQUIRED)
 
 ament_auto_add_library(map_based_prediction_node SHARED
-  src/map_based_prediction_ros.cpp
-  src/map_based_prediction.cpp
+  src/map_based_prediction_node.cpp
+  src/path_generator.cpp
+  src/debug.cpp
 )
 
 rclcpp_components_register_node(map_based_prediction_node
-  PLUGIN "map_based_prediction::MapBasedPredictionROS"
+  PLUGIN "map_based_prediction::MapBasedPredictionNode"
   EXECUTABLE map_based_prediction
 )
 

perception/map_based_prediction/README.md → perception/map_based_prediction/Readme.md

@@ -50,13 +50,15 @@
 
 | Parameter                                   | Type   | Description                                                                                                  |
 | ------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------ |
+| `enable_delay_compensation`                 | bool   | flag to enable the time delay compensation for the position of the object                                    |
 | `prediction_time_horizon`                   | double | predict time duration for predicted path [s]                                                                 |
 | `prediction_sampling_delta_time`            | double | sampling time for points in predicted path [s]                                                               |
 | `min_velocity_for_map_based_prediction`     | double | apply map-based prediction to the objects with higher velocity than this value                               |
 | `dist_threshold_for_searching_lanelet`      | double | The threshold of the angle used when searching for the lane to which the object belongs [rad]                |
 | `delta_yaw_threshold_for_searching_lanelet` | double | The threshold of the distance used when searching for the lane to which the object belongs [m]               |
 | `sigma_lateral_offset`                      | double | Standard deviation for lateral position of objects [m]                                                       |
 | `sigma_yaw_angle`                           | double | Standard deviation yaw angle of objects [rad]                                                                |
+| `object_buffer_time_length`                 | double | Time span of object history to store the information [s]                                                     |
 | `history_time_length`                       | double | Time span of object information used for prediction [s]                                                      |
 | `dist_ratio_threshold_to_left_bound`        | double | Conditions for using lane change detection of objects. Distance to the left bound of lanelet.                |
 | `dist_ratio_threshold_to_right_bound`       | double | Conditions for using lane change detection of objects. Distance to the right bound of lanelet.               |