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Stop distance lookahead once speed_fast_threshold exceeded #5

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Stop distance lookahead once speed_fast_threshold exceeded #5

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18 changes: 13 additions & 5 deletions src/ftc_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,20 +128,28 @@ namespace ftc_local_planner
return 0;
}
Eigen::Quaternion<double> current_rot(current_control_point.linear());

double lookahead_distance = 0.0;
Eigen::Affine3d last_straight_point = current_control_point;
Eigen::Affine3d current_point;
for (uint32_t i = current_index + 1; i < global_plan.size(); i++)
{
tf2::fromMsg(global_plan[i].pose, last_straight_point);
tf2::fromMsg(global_plan[i].pose, current_point);

// check, if direction is the same. if so, we add the distance
Eigen::Quaternion<double> rot2(last_straight_point.linear());
if (abs(rot2.angularDistance(current_rot)) > config.speed_fast_threshold_angle * (M_PI / 180.0))
Eigen::Quaternion<double> rot2(current_point.linear());

if (lookahead_distance > config.speed_fast_threshold ||
abs(rot2.angularDistance(current_rot)) > config.speed_fast_threshold_angle * (M_PI / 180.0))
{
break;
}

lookahead_distance += (current_point.translation() - last_straight_point.translation()).norm();
last_straight_point = current_point;

}

return (last_straight_point.translation() - current_control_point.translation()).norm();
return lookahead_distance;
}

uint32_t FTCPlanner::computeVelocityCommands(const geometry_msgs::PoseStamped &pose,
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