Block rollouts that cut through of drivable areas#18
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blabla-my wants to merge 1 commit intohatem-darweesh:openplanner.1.15from
Open
Block rollouts that cut through of drivable areas#18blabla-my wants to merge 1 commit intohatem-darweesh:openplanner.1.15from
blabla-my wants to merge 1 commit intohatem-darweesh:openplanner.1.15from
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Hello, maintainers of OpenPlanner.
Related to hatem-darweesh/common#19. These two PR both aim to solve the same problem of blocking undrivable rollouts. However, to judge if a waypoint is inside drivable areas, the op_trajectory_evaluator should be able to access the map, which is supported by this PR.
And it also solves a minor problem of the mismatch of rollouts number, as described here: https://answers.ros.org/question/397945/openplanner-25-failed-to-achieve-lane-change-with-errors-in-op_trajectory_evaluator/