Feature/synchronized action #1234
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…4/scenario_simulator_v2 into feature/synchronized_action
…synchronized_action
…synchronized_action
…synchronized_action
Checklist for reviewers ☑️All references to "You" in the following text refer to the code reviewer.
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May 2, 2024
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| auto EntityBase::isArrivedToTargetLaneletPose( | ||
| const CanonicalizedLaneletPose & target_lanelet_pose, const double threshold) -> bool |
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Suggested change
| auto EntityBase::isArrivedToTargetLaneletPose( | |
| const CanonicalizedLaneletPose & target_lanelet_pose, const double threshold) -> bool | |
| auto EntityBase::isArrivedToTargetLaneletPose( | |
| const CanonicalizedLaneletPose & target_lanelet_pose, const double threshold) const -> bool |
| @@ -298,6 +298,7 @@ class EntityManager | |||
| FORWARD_TO_ENTITY(getDistanceToRightLaneBound, const); | |||
| FORWARD_TO_ENTITY(getEntityStatusBeforeUpdate, const); | |||
| FORWARD_TO_ENTITY(getEntityType, const); | |||
| FORWARD_TO_ENTITY(isArrivedToTargetLaneletPose, ); | |||
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Suggested change
| FORWARD_TO_ENTITY(isArrivedToTargetLaneletPose, ); | |
| FORWARD_TO_ENTITY(isArrivedToTargetLaneletPose, const); |
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| auto EntityBase::isArrivedToTargetLaneletPose( | ||
| const CanonicalizedLaneletPose & target_lanelet_pose, const double threshold) -> bool | ||
| { | ||
| const auto entity_distance_to_target = getDistanceToTargetLaneletPose(target_lanelet_pose); | ||
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| if (entity_distance_to_target <= threshold) { | ||
| return true; | ||
| } else { | ||
| return false; | ||
| } | ||
| } |
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Please consider using reachPosition function.
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| /** | ||
| * @brief Check if the entity has already arrived to the target lanelet. | ||
| */ |
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| /** | |
| * @brief Check if the entity has already arrived to the target lanelet. | |
| */ | |
| /// @brief Check if the entity has already arrived to the target lanelet. |
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| /** | ||
| * @brief This is function for synchronization. | ||
| */ |
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| /** | |
| * @brief This is function for synchronization. | |
| */ | |
| /// @brief This is function for synchronization. |
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| /** | ||
| * @brief Making entity slow down since the speed is too fast | ||
| */ |
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Suggested change
| /** | |
| * @brief Making entity slow down since the speed is too fast | |
| */ | |
| /// @brief Making entity slow down since the speed is too fast |
| if (!ego_distance.has_value()) { | ||
| RCLCPP_WARN_ONCE( | ||
| rclcpp::get_logger("traffic_simulator"), | ||
| "ego has already passed away or has some problem"); |
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Error message is unclear.
Instead of "something is wrong," please describe the possible causes of the problem and how you are addressing it.
For example, "Please check the results of the scenario run to see if Ego has passed the target point. If not, please contact the developer as there may be an undiscovered bug.
| } | ||
| const auto ego_velocity = other_status_.find("ego")->second.getTwist().linear.x; | ||
| const auto entity_velocity = this->getStatus().getTwist().linear.x; | ||
| const auto ego_arrival_time = (ego_velocity != 0) ? ego_distance.value() / ego_velocity : 0; |
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To determine if it is equal to 0 for a double type, consider the machine epsilon.
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| auto entity_velocity_to_synchronize = entity_velocity; | ||
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| auto accel_limit_ = accel_limit * 1; |
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Why do you multiply 1?
Also, why do you use auto? not const auto
| const auto entity_velocity = this->getStatus().getTwist().linear.x; | ||
| const auto ego_arrival_time = (ego_velocity != 0) ? ego_distance.value() / ego_velocity : 0; | ||
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| auto entity_velocity_to_synchronize = entity_velocity; |
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Also, why do you use auto? not const auto
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Description
Added API to call synchronized action.
Background
For further information look here .
Known Limitations
Currently, the conditions under which synchronized action can be fully achieved are quite limited.