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feat(freespace_planning_algorithms): update for A* python wrapper #8890

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TakumIto
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@TakumIto TakumIto commented Sep 17, 2024 •
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Description

Update for A* python wrapper to use the getDistanceToObstacle() function.

Related links

This PR is initially prepared for A* parameter tuning tool autoware_tools PR#120. But, not only for it but also for other applications using python wrapper.

How was this PR tested?

Evaluator: https://evaluation.tier4.jp/evaluation/reports/733ee4d0-e5fc-5308-8520-fdbaf61526f8?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Sep 17, 2024
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github-actions bot commented Sep 17, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@TakumIto TakumIto force-pushed the feat/astar_wrapper_distance_function branch 3 times, most recently from 333efc0 to 1e25b48 Compare September 20, 2024 01:44
@TakumIto TakumIto marked this pull request as ready for review October 9, 2024 11:52
kosuke55
kosuke55 reviewed Oct 10, 2024
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planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp
double getDistanceToObstacle(const std::string & pose_byte)
{
rclcpp::SerializedMessage serialized_msg;
static constexpr size_t message_header_length = 8u;
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how to know this value 8u?

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@TakumIto TakumIto Oct 10, 2024 •
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I imitated the code of another feature.
https://github.com/autowarefoundation/autoware_common/blob/7c55915cb435c17f24f78dd9b9f28fa269609671/tmp/lanelet2_extension_python/src/utility.cpp#L136
It uses the same header length 8u for all messages. But I'm sorry, I have no idea how it has been decided.

@kosuke55 kosuke55 force-pushed the feat/astar_wrapper_distance_function branch from 521f76e to d2226de Compare October 16, 2024 07:07
@kosuke55 kosuke55 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 17, 2024
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stale bot commented Dec 18, 2024

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Dec 18, 2024
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xmfcx commented Feb 4, 2025 •
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@kosuke55 Is this OK to merge?

@stale stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Feb 4, 2025
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codecov bot commented Feb 4, 2025 •
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Codecov Report

Attention: Patch coverage is 0% with 21 lines in your changes missing coverage. Please review.

Project coverage is 25.05%. Comparing base (538a24d) to head (271d8c3).
Report is 2 commits behind head on main.

Files with missing lines Patch % Lines
...ng_algorithms/scripts/bind/astar_search_pybind.cpp 0.00% 21 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #8890      +/-   ##
==========================================
+ Coverage   24.86%   25.05%   +0.18%     
==========================================
  Files        1351     1352       +1     
  Lines      105018   105008      -10     
  Branches    39583    39580       -3     
==========================================
+ Hits        26114    26305     +191     
+ Misses      76419    76236     -183     
+ Partials     2485     2467      -18
Flag Coverage Δ *Carryforward flag
differential 32.69% <0.00%> (?)
total 24.87% <ø> (+0.01%) ⬆️ Carriedforward from 538a24d

*This pull request uses carry forward flags. Click here to find out more.

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stale bot commented Apr 5, 2025

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Apr 5, 2025
Takumi Ito added 3 commits May 16, 2025 19:23
@kosuke55
add get distance to obstacle function in the pyrhon wrapper
76cf368 
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
@kosuke55
add setMinMaxDimension Function
35adb94 
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
@kosuke55
run pre-commit
271d8c3 
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
@kosuke55 kosuke55 force-pushed the feat/astar_wrapper_distance_function branch from 7ebb6b9 to 271d8c3 Compare May 16, 2025 10:23
@kosuke55 kosuke55 changed the title chore(freespace_planning_algorithms): update for A* python wrapper feat(freespace_planning_algorithms): update for A* python wrapper May 16, 2025
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@kosuke55 kosuke55 kosuke55 approved these changes

@TakaHoribe TakaHoribe Awaiting requested review from TakaHoribe TakaHoribe is a code owner

@takayuki5168 takayuki5168 Awaiting requested review from takayuki5168 takayuki5168 is a code owner

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