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Add a new hyper parameter to enable or disable the avoidance in the last section #18

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Add a new hyper parameter to enable or disable the avoidance in the last section #18

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2 changes: 2 additions & 0 deletions op_planner/include/op_planner/RoadNetwork.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1273,6 +1273,7 @@ class PlanningParams
bool enableTrafficLightBehavior;
bool enableStopSignBehavior;
bool enableTimeOutAvoidance;
bool enableFinalLocalPathUpdate;
double avoidanceTimeOut;

bool enabTrajectoryVelocities;
Expand Down Expand Up @@ -1319,6 +1320,7 @@ class PlanningParams
enableLaneChange = false;
enableStopSignBehavior = false;
enabTrajectoryVelocities = false;
enableFinalLocalPathUpdate = true;
minIndicationDistance = 15;

enableTimeOutAvoidance = false;
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4 changes: 2 additions & 2 deletions op_planner/src/DecisionMaker.cpp
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Expand Up @@ -536,7 +536,7 @@ void DecisionMaker::InitBehaviorStates()

if((currIndex > index_limit
|| preCalcPrams->bRePlan
|| preCalcPrams->bNewGlobalPath) && !preCalcPrams->bFinalLocalTrajectory && m_iSinceLastReplan > m_params.nReliableCount)
|| preCalcPrams->bNewGlobalPath) && (!preCalcPrams->bFinalLocalTrajectory || m_params.enableFinalLocalPathUpdate) && m_iSinceLastReplan > m_params.nReliableCount)
{
m_iSinceLastReplan = 0;
return true;
Expand All @@ -558,7 +558,7 @@ void DecisionMaker::InitBehaviorStates()

if((currIndex > index_limit
|| preCalcPrams->bRePlan
|| preCalcPrams->bNewGlobalPath) && !preCalcPrams->bFinalLocalTrajectory && m_iSinceLastReplan > m_params.nReliableCount)
|| preCalcPrams->bNewGlobalPath) && (!preCalcPrams->bFinalLocalTrajectory || m_params.enableFinalLocalPathUpdate) && m_iSinceLastReplan > m_params.nReliableCount)
{
//Debug
//std::cout << "New Local Plan !! " << currIndex << ", "<< preCalcPrams->bRePlan << ", " << preCalcPrams->bNewGlobalPath << ", " << m_TotalPath.at(0).size() << ", PrevLocal: " << m_Path.size();
Expand Down