Change comparison oparator in isInLanelet

[gmajrobotec]

Description

In traffic_simulator::pose::isInLanelet comparison between distances and tolerance should be done with "<=" operator.

Abstract

In traffic_simulator::pose::isInLanelet to compare distance_to_start_lanelet_pose and distance_to_end_lanelet_pose with tolerance operator "<" is used. This can possibly lead to wrong result when tolerance is 0 and one of the measured distances is also 0, which means pose is in lanelet (start or end of it). If this is not expected behaviour operator "<=" should be used.

Details

I've changed operator "<" to "<=" in traffic_simulator::pose::isInLanelet function.

Destructive Changes

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Known Limitations

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[github-actions]

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[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud

[gmajrobotec]

No	Scenario	Compare
1	⭕⇒❌ : cmn_UC-E-03_発進_障害物停止 / UC-v3-E-03-00004_002_case01_cmn_general base : URL eval : URL Params : {'__tier4_modifier_bicycle_position': '30', '__tier4_modifier_bicycle_speed': '4.1667', '__tier4_modifier_ego_position': '0.2'} Message : Simulation failure: CustomCommandAction typed "exitFailure" was triggered by the anonymous Condition (OpenSCENARIO.Storyboard.Story[0].Act["_EndCondition"].ManeuverGroup[0].Maneuver[0].Event[1].StartTrigger.ConditionGroup[0].Condition[0]): Is the simulation time (= 60.033333333329927938848413759843) is greaterThan 60.000000000000000000000000000000?
2	⭕⇒❌ : cmn_UC-E-04_発進_障害物回避 / UC-v3-E-04-00101_001_case01_cmn_general base : URL eval : URL Params : {'__tier4_modifier_egolateral': '-1.3', '__tier4_modifier_egolongitudinal': '-0.5', '__tier4_modifier_npc_position': '4', '__tier4_modifier_start_position': '8'} Message : Simulation failure: CustomCommandAction typed "exitFailure" was triggered by the anonymous Condition (OpenSCENARIO.Storyboard.Story[0].Act["_EndCondition"].ManeuverGroup[0].Maneuver[0].Event[1].StartTrigger.ConditionGroup[1].Condition[0]): Is any of [ego]'s standstill time = [[10.0333]] greaterThan 10.000000000000000000000000000000?
3	⭕⇒❌ : cmn_UC-E-04_発進_障害物回避 / UC-v3-E-04-00001_001_case05_cmn_general base : URL eval : URL Params : {'__tier4_modifier_npc_position': '6', '__tier4_modifier_npclateral': '1'} Message : Simulation failure: CustomCommandAction typed "exitFailure" was triggered by the anonymous Condition (OpenSCENARIO.Storyboard.Story[0].Act["_EndCondition"].ManeuverGroup[0].Maneuver[0].Event[1].StartTrigger.ConditionGroup[2].Condition[0]): The state of StoryboardElement "act_ego_nostop" (= completeState) is given state completeState?
4	⭕⇒❌ : cmn_UC-J-11_駐車場_停車 / UC-v2-J-11-00001_003_case03_cmn_general base : URL eval : URL Params : {} Message : Simulation failure: CustomCommandAction typed "exitFailure" was triggered by the anonymous Condition (OpenSCENARIO.Storyboard.Story[0].Act["_EndCondition"].ManeuverGroup[0].Maneuver[0].Event[1].StartTrigger.ConditionGroup[0].Condition[0]): Is the simulation time (= 180.033333333323128044867189601064) is greaterThan 180.000000000000000000000000000000?
5	⭕⇒❌ : cmn_UC-J-11_駐車場_停車 / UC-v2-J-11-00001_001_case08_cmn_general base : URL eval : URL Params : {} Message : Simulation failure: CustomCommandAction typed "exitFailure" was triggered by the anonymous Condition (OpenSCENARIO.Storyboard.Story[0].Act["_EndCondition"].ManeuverGroup[0].Maneuver[0].Event[1].StartTrigger.ConditionGroup[0].Condition[0]): Is the simulation time (= 180.033333333323128044867189601064) is greaterThan 180.000000000000000000000000000000?