Route server corner smoothing (backport #5226)#5259
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SteveMacenski merged 1 commit intokiltedfrom Jun 12, 2025
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* added edge length method Signed-off-by: Alexander Yuen <[email protected]> * Added corner arc class Signed-off-by: Alexander Yuen <[email protected]> * replaced double vectors with Coordinates, added methods to return start and end coordinates Signed-off-by: Alexander Yuen <[email protected]> * using Coordinates, fixed direction of tangents Signed-off-by: Alexander Yuen <[email protected]> * added corner arc in header, added logger in protected variable Signed-off-by: Alexander Yuen <[email protected]> * first pass of corner smoothing algorithm Signed-off-by: Alexander Yuen <[email protected]> * reassigning next edge to have a different start, if a corner occurs before it Signed-off-by: Alexander Yuen <[email protected]> * using unique pointer instead of raw pointers for new edges and nodes Signed-off-by: Alexander Yuen <[email protected]> * added smoothing parameter Signed-off-by: Alexander Yuen <[email protected]> * made angle of interpolation a parameter Signed-off-by: Alexander Yuen <[email protected]> * const for return methods, added flag for smoothing corners Signed-off-by: Alexander Yuen <[email protected]> * moved getEdgeLength() into the Directional Edge struct Signed-off-by: Alexander Yuen <[email protected]> * using float instead of double Signed-off-by: Alexander Yuen <[email protected]> * smoothing radius is float, couple methods moved to protected Signed-off-by: Alexander Yuen <[email protected]> * removed signed_angle_ as a member variable Signed-off-by: Alexander Yuen <[email protected]> * removed unnecessary member variables Signed-off-by: Alexander Yuen <[email protected]> * removed angle of interpolation and inferring it from path density and radius instead Signed-off-by: Alexander Yuen <[email protected]> * consolidated corner arc into one header function Signed-off-by: Alexander Yuen <[email protected]> * readded newline Signed-off-by: Alexander Yuen <[email protected]> * changed corner arc to corner smoothing Signed-off-by: Alexander Yuen <[email protected]> * replaced the use of edges with coordinates to generate smoothing arc, removed storage of nodes and edges Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * fixing cpplint Signed-off-by: Alexander Yuen <[email protected]> * linting for headers Signed-off-by: Alexander Yuen <[email protected]> * cpplinting Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <[email protected]> * fixed divide by zeros and accessing empty route.edges Signed-off-by: Alexander Yuen <[email protected]> * uncrustify linting Signed-off-by: Alexander Yuen <[email protected]> * cpp linting Signed-off-by: Alexander Yuen <[email protected]> * path converter linting Signed-off-by: Alexander Yuen <[email protected]> * changed all doubles to floats Signed-off-by: Alexander Yuen <[email protected]> * added check for edges that are colinear to avoid divide by 0, fixed final edge interpolation Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <[email protected]> * added doxygen for corner arc class Signed-off-by: Alexander Yuen <[email protected]> * added warning message if corner can't be smoothed Signed-off-by: Alexander Yuen <[email protected]> * added smooth_corners to the nav2 params file Signed-off-by: Alexander Yuen <[email protected]> * added smoothing flag and radius parameter to README.md' Signed-off-by: Alexander Yuen <[email protected]> * typo in README Signed-off-by: Alexander Yuen <[email protected]> * added testing for corner smoothing Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> (cherry picked from commit 792bcac)
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Basic Info
Description of contribution in a few bullet points
densifyinpath_converter.cppto enable corner smoothingDescription of documentation updates required from your changes
Description of how this change was tested
Future work that may be required in bullet points
corner_arcclassFor Maintainers:
This is an automatic backport of pull request #5226 done by [Mergify](https://mergify.com).