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fix(obstacle_avoidance_planner): change behavior when optimization fails #1576

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fix(obstacle_avoidance_planner): change behavior when optimization fails #1576

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64c8313
po
yuki-takagi-66 Oct 4, 2024
619bdb8
fix spel
yuki-takagi-66 Oct 4, 2024
79c4c8b
fix
yuki-takagi-66 Oct 4, 2024
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10 changes: 7 additions & 3 deletions planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -471,8 +471,13 @@ std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(

const auto get_prev_optimized_traj_points = [&]() {
if (prev_optimized_traj_points_ptr_) {
RCLCPP_WARN(logger_, "return the previous optimized_trajectory as exceptional behavior.");
return *prev_optimized_traj_points_ptr_;
}
RCLCPP_WARN(
logger_,
"Try to return the previous optimized_trajectory as exceptional behavior, "
"but this failure also. Then return path_smoother output.");
return smoothed_points;
};

Expand All @@ -499,9 +504,8 @@ std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(
// 6. optimize steer angles
const auto optimized_variables = calcOptimizedSteerAngles(ref_points, obj_mat, const_mat);
if (!optimized_variables) {
RCLCPP_INFO_EXPRESSION(
logger_, enable_debug_info_, "return std::nullopt since could not solve qp");
return get_prev_optimized_traj_points();
RCLCPP_WARN(logger_, "return std::nullopt since could not solve qp");
return smoothed_points;
}

// 7. convert to points with validation
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