Practice 6 - simple_local_planner - code comments

[geopimik]

Please fix following:

1. I might have given you the wrong hint in the practice. Here you check if self.current_position is not None. And later you use it in the callback (line 102).

   • what if, during the checking, it was not None, but then was changed to None then we would have an error in the callback
   • In our simplified code, it currently can't go to None, but it is possible.
   • So it is best to assign it to a local variable, check if that is not None and in the callback, we should use the local variable. https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L95-L102

2. You could move transforming velocities after the next if. Do it only for those objects that intersect our path. Will gain some milliseconds https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L133-L143

3. It can be done like this, but it seems a bit weird. It is like the object_distances is boolean. https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L171-L172

[Karljohan99]

Fixed all of them in 00e500c

[geopimik]

OK