feat(obstacle_cruise_planner): support pointcloud-based obstacles #6907
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| @@ -87,6 +117,8 @@ struct Obstacle | |||
| std::vector<PredictedPath> predicted_paths; | |||
| double ego_to_obstacle_distance; | |||
| double lat_dist_from_obstacle_to_traj; | |||
| PointCloud pointcloud; | |||
| bool pointcloud_repr; | |||
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Could you explain the purpose of this variable?
| twist.linear.x = twist.linear.y = twist.angular.z = 0.0; | ||
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| Eigen::Vector4d centroid; | ||
| pcl::compute3DCentroid(pointcloud, centroid); |
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Why did you calculate centroid of pointcloud?
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