feat(autoware_planning_evaluator): add resampled_relative_angle metrics #10020
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Kazunori-Nakajima
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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| // Resample trajctory points | ||
| std::vector<TrajectoryPoint> resample_traj_points{}; | ||
| for (size_t idx = 0; idx < traj.points.size(); idx = idx + 3) { | ||
| resample_traj_points.push_back(traj.points.at(idx)); | ||
| } |
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Is this necessary for calculation costs?
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Thank you very much for comment!
It seems to not necessary. This processing time is at most 0.5 ms.
I deleted this code -> 1b29489
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thanks!
0.5ms seems not so problem
( for reduce proccesing time more: https://star4.slack.com/archives/C03QW0GU6P7/p1737942266253849?thread_ts=1737937464.395459&cid=C03QW0GU6P7 )
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Thank you very much!
I fixed it.
default.mp4
| // We need at least three points to compute relative angle | ||
| if (traj.points.size() < 2) { | ||
| return stat; | ||
| } |
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now we can delete this lines
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I deleted!
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Signed-off-by: Kasunori-Nakajima <[email protected]>
Signed-off-by: Kasunori-Nakajima <[email protected]>
Signed-off-by: Kasunori-Nakajima <[email protected]>
Signed-off-by: Kasunori-Nakajima <[email protected]>
Signed-off-by: Kasunori-Nakajima <[email protected]>
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Description
Added metrics to look at angular differences in trajectory points.
This metric enables detection of severe route misalignments, such as bends of more than 90° in local trajectory.
Related links
Parent Issue:
How was this PR tested?
simplescreenrecorder-2025-01-27_09.08.46.mp4
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.