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hatem-darweesh / common

Apache License 2.0
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GetVelocityAhead declaration and implementation #7

Closed MaxandreOgeret closed 3 years ago

MaxandreOgeret commented 3 years ago

This PR is part of the effort of merging back the changes made by the University of Tartu Self driving Lab.

We have created the function GetVelocityAheadLinear that uses constant acceleration formula to fetch and adapt the velocity ahead with our current speed to imnprove smoothness.

The PR only includes the function declaration and implementation but not the uses. The function is used in:

What's your opinion on this function ? If you think it's useful I can complete this PR.

hatem-darweesh commented 3 years ago

Thank you for your effort to make Autoware.AI and OpenPlanner better.

Have you tried using the new introduced "UpdateVelocityDirectlyToTrajectorySmooth" , the objective of this is to overcome the problems with the old velocity profiler including "GetVelocityAhead" function.

If you have a reproduce-able scenario we can test both then decide which to keep, or even add a parameter to switch between them.