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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
Apache License 2.0
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fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes #9363

Closed kosuke55 closed 1 week ago

kosuke55 commented 1 week ago

Description

In this PR, we check if the same point has already been inserted. This fixed path distortion caused by duplicated points.

before

image

after

image

Related links

t4 internal ticket : https://tier4.atlassian.net/browse/RT1-4810

How was this PR tested?

psim

2024/11/18 https://evaluation.tier4.jp/evaluation/reports/b3906a49-741b-5fc5-a388-13fcd3419152/?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions[bot] commented 1 week ago

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codecov[bot] commented 1 week ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 29.80%. Comparing base (08951b2) to head (0ed9c39). Report is 48 commits behind head on main.

Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #9363 +/- ## ========================================== - Coverage 29.81% 29.80% -0.02% ========================================== Files 1338 1344 +6 Lines 103205 103249 +44 Branches 40210 40211 +1 ========================================== Hits 30771 30771 - Misses 69447 69491 +44 Partials 2987 2987 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9363/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9363/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `19.54% <100.00%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9363/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.81% <ø> (-0.01%)` | :arrow_down: | Carriedforward from [08951b2](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/08951b23a20e86f52fde0c1e9cdc6d5d31677c54?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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