Add trajectory points behind the ego pose
Description
The current planners generate a trajectory that starts at the current ego pose. Some algorithms require the trajectory to start behind the ego pose, for example to accurately calculate the curvature.
A way have the trajectory starts behind the current ego pose should be added.
Purpose
Some trajectory planning or control algorithms perform better if the trajectory they follow starts behind the current ego pose.
Desired Behavior
I can think of two options:
- Add an option to existing planners to generate trajectories that start behind ego.
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❌ Requires changes to the existing planners. -
❌ Requires all future planners to support this option as well.
- Add a node or common function that prepends the trajectory with additional points.
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✔ Flexible solution with no changes to the existing planners. - Possible implementation: use a buffer of ego poses to prepend to the trajectory.
Definition of Done
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Possible to generate trajectories starting behind the current ego pose.