Change sign of slope acceleration and check canonicalization status i…

…n acceleration calculation
tier4 · Jan 19, 2025 · ed55433 · ed55433
1 parent 326fba4
commit ed55433
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -336,7 +336,7 @@ void EgoEntitySimulation::update(
            `AutowareUniverse::getVehicleCommand`, and at the same time change
            `acceleration` to a signed value.
         */
-        input(0) = gear_sign * (acceleration + acceleration_by_slope);
+        input(0) = gear_sign * acceleration + acceleration_by_slope;
         input(1) = tire_angle;
         break;
 
@@ -364,7 +364,7 @@ void EgoEntitySimulation::update(
 
 auto EgoEntitySimulation::calculateAccelerationBySlope() const -> double
 {
-  if (consider_acceleration_by_road_slope_) {
+  if (consider_acceleration_by_road_slope_ && status_.laneMatchingSucceed()) {
     constexpr double gravity_acceleration = -9.81;
     const double ego_pitch_angle =
       math::geometry::convertQuaternionToEulerAngle(

diff --git a/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp b/simulation/traffic_simulator/include/traffic_simulator/data_type/entity_status.hpp
@@ -68,9 +68,9 @@ class CanonicalizedEntityStatus
   auto setLinearJerk(double) -> void;
 
   auto laneMatchingSucceed() const noexcept -> bool;
-  auto getLaneletId() const noexcept -> lanelet::Id;
+  auto getLaneletId() const -> lanelet::Id;
   auto getLaneletIds() const noexcept -> lanelet::Ids;
-  auto getLaneletPose() const noexcept -> const LaneletPose &;
+  auto getLaneletPose() const -> const LaneletPose &;
   auto getCanonicalizedLaneletPose() const noexcept
     -> const std::optional<CanonicalizedLaneletPose> &;
   auto getName() const noexcept -> const std::string & { return entity_status_.name; }

diff --git a/simulation/traffic_simulator/src/data_type/entity_status.cpp b/simulation/traffic_simulator/src/data_type/entity_status.cpp
@@ -127,7 +127,7 @@ auto CanonicalizedEntityStatus::getAltitude() const -> double
   return entity_status_.pose.position.z;
 }
 
-auto CanonicalizedEntityStatus::getLaneletPose() const noexcept -> const LaneletPose &
+auto CanonicalizedEntityStatus::getLaneletPose() const -> const LaneletPose &
 {
   if (canonicalized_lanelet_pose_) {
     return canonicalized_lanelet_pose_->getLaneletPose();
@@ -136,7 +136,7 @@ auto CanonicalizedEntityStatus::getLaneletPose() const noexcept -> const Lanelet
   }
 }
 
-auto CanonicalizedEntityStatus::getLaneletId() const noexcept -> lanelet::Id
+auto CanonicalizedEntityStatus::getLaneletId() const -> lanelet::Id
 {
   return getLaneletPose().lanelet_id;
 }