* Improved braking, collision negotiation.
* Improved braking algorithm for smoother approach
to lead vehicle.
* Implemented smoother path boundary modification
to aid smoother braking.
* Re-worked collision negotiation algorithm.
* Improved collision candidate filtering.
* Added safe-guard in case of vehicle removal
in collision stage.
* Used local variable for heavily referenced object
in localization stage.
* Implemented vector relative velocities
for motion planner's collision consideration.
* Moved collision candidate sorting logic
from collision stage to localization stage.
* Sorting collision candidates using their ids
instead of shared pointers to avoid memory corruption.
* Improved conditions for collision consideration
for greater efficiency.
* Removed fps limit in async mode.
* removed unused variable e
* Implemented more details in snippet profiler
Demonstration of compute bottleneck demo
* Deeper bottleneck investigation demo
* * Implemented road curvature threshold for path polygon
vertex selection
* Implemented direct boost point append to construct polygons
* * Fix for polygon shrink bug.
* Changed polygon start point relative to front waypoint
instead of vehicle location.
* Removed debug statements
* Implemented lock and track logic for collision avoidance
instead of state-less boundary extension.
Improved braking logic to approach moving lead vehicle
until a threshold and then following it at distance.
* Increased vertical overlap threshold
to accomodate high slope roads.
* Implemented PR review change
* Fixed collision negotiation bug inside junctions.
* Implemented speed dependent (linear) follow distance.
Temporary solution to flush overcompensating controller state.
* Clamped velocity integral to avoid accumulating
over-compensation for vehicles that take
a long time to reach high target velocities.
* changes to pid values
changes to collision stage conditions
Co-authored-by: Jacopo Bartiromo <jackbart94@gmail.com>
Co-authored-by: Jacopo Bartiromo <32928804+jackbart94@users.noreply.github.com>
Co-authored-by: bernat <bernatx@gmail.com>
Added Waypoint Binning changes
- Improved waypoint buffer scanning.The buffer need not to be fully scanned to find the target waypoint
- Improvised Localization Util class for getting targetWaypoint
The `-e` flag is used to define an environment variable. It requires a parameter. `-e --gpus all` means "Define environment variable `--gpus` to be empty, execute image `all:latest`. I have a suspicion that whoever wrote this intended to define an environment variable but forgot it (e.g. `NVIDIA_VISIBLE_DEVICES=0` used below).
Praveen Kumar