forked from tier4/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat(goal_planner): use neighboring lane of pull over lane to check g…
…oal footprint (autowarefoundation#8716) move to utils and add tests Signed-off-by: kosuke55 <[email protected]>
- Loading branch information
1 parent
a82b1cb
commit f716783
Showing
4 changed files
with
286 additions
and
6 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
167 changes: 167 additions & 0 deletions
167
planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,167 @@ | ||
| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include <ament_index_cpp/get_package_share_directory.hpp> | ||
| #include <autoware/behavior_path_goal_planner_module/util.hpp> | ||
| #include <autoware/route_handler/route_handler.hpp> | ||
| #include <autoware_lanelet2_extension/utility/query.hpp> | ||
| #include <autoware_test_utils/autoware_test_utils.hpp> | ||
|
|
||
| #include <gtest/gtest.h> | ||
|
|
||
| class TestUtilWithMap : public ::testing::Test | ||
| { | ||
| protected: | ||
| void SetUp() override | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| // parameters | ||
| auto node_options = rclcpp::NodeOptions{}; | ||
| node_options.arguments(std::vector<std::string>{ | ||
| "--ros-args", "--params-file", | ||
| ament_index_cpp::get_package_share_directory("autoware_test_utils") + | ||
| "/config/test_vehicle_info.param.yaml"}); | ||
| auto node = rclcpp::Node::make_shared("test", node_options); | ||
| vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo(); | ||
|
|
||
| // lanelet map | ||
| const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( | ||
| "autoware_behavior_path_planner_common", "road_shoulder/lanelet2_map.osm"); | ||
| const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); | ||
|
|
||
| // load map | ||
| route_handler = std::make_shared<autoware::route_handler::RouteHandler>(map_bin_msg); | ||
| } | ||
|
|
||
| void TearDown() override { rclcpp::shutdown(); } | ||
|
|
||
| public: | ||
| std::shared_ptr<autoware::route_handler::RouteHandler> route_handler; | ||
| autoware::vehicle_info_utils::VehicleInfo vehicle_info; | ||
| }; | ||
|
|
||
| TEST_F(TestUtilWithMap, getBusStopAreaPolygons) | ||
| { | ||
| const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); | ||
| const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); | ||
| const auto bus_stop_area_polygons = | ||
| autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); | ||
| EXPECT_EQ(bus_stop_area_polygons.size(), 2); | ||
| } | ||
|
|
||
| TEST_F(TestUtilWithMap, isWithinAreas) | ||
| { | ||
| const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); | ||
| const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); | ||
| const auto bus_stop_area_polygons = | ||
| autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); | ||
|
|
||
| const auto footprint = vehicle_info.createFootprint(); | ||
| const geometry_msgs::msg::Pose baselink_pose = | ||
| geometry_msgs::build<geometry_msgs::msg::Pose>() | ||
| .position( | ||
| geometry_msgs::build<geometry_msgs::msg::Point>().x(273.102814).y(402.194794).z(0.0)) | ||
| .orientation( | ||
| geometry_msgs::build<geometry_msgs::msg::Quaternion>().x(0.0).y(0.0).z(0.707390).w( | ||
| 0.706824)); | ||
| const auto baselink_footprint = autoware::universe_utils::transformVector( | ||
| footprint, autoware::universe_utils::pose2transform(baselink_pose)); | ||
| EXPECT_EQ( | ||
| autoware::behavior_path_planner::goal_planner_utils::isWithinAreas( | ||
| baselink_footprint, bus_stop_area_polygons), | ||
| true); | ||
| } | ||
|
|
||
| TEST_F(TestUtilWithMap, combineLanePoints) | ||
| { | ||
| // 1) combine points with no duplicate IDs | ||
| { | ||
| lanelet::Points3d points{ | ||
| {lanelet::Point3d(1, 0, 0), lanelet::Point3d(2, 0, 0), lanelet::Point3d(3, 0, 0)}}; | ||
| lanelet::Points3d points_next{ | ||
| {lanelet::Point3d(4, 0, 0), lanelet::Point3d(5, 0, 0), lanelet::Point3d(6, 0, 0)}}; | ||
|
|
||
| const auto combined_points = | ||
| autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(points, points_next); | ||
| EXPECT_EQ(combined_points.size(), 6); | ||
| } | ||
|
|
||
| // 2) combine points with duplicate IDs | ||
| { | ||
| lanelet::Points3d points{ | ||
| {lanelet::Point3d(1, 0, 0), lanelet::Point3d(2, 0, 0), lanelet::Point3d(3, 0, 0)}}; | ||
| lanelet::Points3d points_next{ | ||
| {lanelet::Point3d(3, 0, 0), lanelet::Point3d(4, 0, 0), lanelet::Point3d(5, 0, 0)}}; | ||
|
|
||
| const auto combined_points = | ||
| autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(points, points_next); | ||
| EXPECT_EQ(combined_points.size(), 5); | ||
| } | ||
| } | ||
|
|
||
| TEST_F(TestUtilWithMap, createDepartureCheckLanelet) | ||
| { | ||
| const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); | ||
|
|
||
| const geometry_msgs::msg::Pose goal_pose = | ||
| geometry_msgs::build<geometry_msgs::msg::Pose>() | ||
| .position(geometry_msgs::build<geometry_msgs::msg::Point>() | ||
| .x(433.42254638671875) | ||
| .y(465.3381652832031) | ||
| .z(0.0)) | ||
| .orientation(geometry_msgs::build<geometry_msgs::msg::Quaternion>() | ||
| .x(0.0) | ||
| .y(0.0) | ||
| .z(0.306785474523741) | ||
| .w(0.9517786888879384)); | ||
|
|
||
| // 1) get target shoulder lane and check it's lane id | ||
| const auto target_shoulder_lane = route_handler->getPullOverTarget(goal_pose); | ||
| EXPECT_EQ(target_shoulder_lane.has_value(), true); | ||
| EXPECT_EQ(target_shoulder_lane.value().id(), 18391); | ||
|
|
||
| // 2) get shoulder lane sequence | ||
| const auto target_shoulder_lanes = | ||
| route_handler->getShoulderLaneletSequence(target_shoulder_lane.value(), goal_pose); | ||
| EXPECT_EQ(target_shoulder_lanes.size(), 3); | ||
|
|
||
| // 3) check if the right bound of the departure check lane extended to the right end matches the | ||
| // right bound of the rightmost lanelet | ||
| const auto to_points3d = [](const lanelet::ConstLineString3d & bound) { | ||
| lanelet::Points3d points; | ||
| for (const auto & pt : bound) { | ||
| points.push_back(lanelet::Point3d(pt)); | ||
| } | ||
| return points; | ||
| }; | ||
|
|
||
| const auto departure_check_lane = | ||
| autoware::behavior_path_planner::goal_planner_utils::createDepartureCheckLanelet( | ||
| target_shoulder_lanes, *route_handler, true); | ||
| const auto departure_check_lane_right_bound_points = | ||
| to_points3d(departure_check_lane.rightBound()); | ||
|
|
||
| const std::vector<lanelet::Id> most_right_lanelet_ids = {18381, 18383, 18388}; | ||
| lanelet::Points3d right_bound_points; | ||
| for (const auto & id : most_right_lanelet_ids) { | ||
| const auto lanelet = lanelet_map_ptr->laneletLayer.get(id); | ||
| right_bound_points = autoware::behavior_path_planner::goal_planner_utils::combineLanePoints( | ||
| right_bound_points, to_points3d(lanelet.rightBound())); | ||
| } | ||
|
|
||
| EXPECT_EQ(departure_check_lane_right_bound_points.size(), right_bound_points.size()); | ||
| for (size_t i = 0; i < departure_check_lane_right_bound_points.size(); ++i) { | ||
| EXPECT_EQ(departure_check_lane_right_bound_points.at(i).id(), right_bound_points.at(i).id()); | ||
| } | ||
| } |