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chore(path_optimizer): add warn msg for exceptional behavior (#9033) #1580

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Oct 7, 2024
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chore(path_optimizer): add warn msg for exceptional behavior (#9033) #1580

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8 changes: 6 additions & 2 deletions planning/autoware_path_optimizer/src/mpt_optimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -477,8 +477,13 @@ std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(const PlannerData

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 traj_points;
};

Expand All @@ -505,8 +510,7 @@ std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(const PlannerData
// 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");
RCLCPP_WARN(logger_, "return std::nullopt since could not solve qp");
return get_prev_optimized_traj_points();
}

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