Bug: Lanes are sometimes not created with the correct length

bark-simulator / bark

Open-Source Framework for Development, Simulation and Benchmarking of Behavior Planning Algorithms for Autonomous Driving

https://bark-simulator.github.io/

MIT License

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Bug: Lanes are sometimes not created with the correct length #73

Closed AKreutz closed 5 years ago

AKreutz commented 5 years ago

When a Lane is created using the function modules::world::create_lane_with_offset_from_line in commons.hpp, the created line sometimes is too short by one point.

The bug happens when the requested length of the new Lane, as determined by the parameters lane_width_current_lane.s_start and lane_width_current_lane.s_end, is not equal to 1. This is almost always the case when a map is created using xodr_parser.py.

AKreutz commented 5 years ago

Pull request #74 contains a test that fails because of the bug, as well as a potential fix for it.

klemense1 commented 5 years ago

cleaned up create_lane_with_offset_from_line in https://github.com/bark-simulator/bark/pull/122
sampling to the exact length creates problems with curves, as the previous line is also a curve --> a inner lane has to be shorter and a outer lane has to be longer.
sampling lines not up to the full length does imho no harm, as linestrings are concatinated for planning anyway.
it's probably most obvious in plotting, but we can live with that.
i would close the ticket