fix(safety_check): don't override collision polygon even if it doesn'…

…t find corresponding time pose (autowarefoundation#5944) fix(safety_check): don't override collision polygon if it doesn't find corresponding time pose Signed-off-by: satoshi-ota <[email protected]>
Interplai · Jun 3, 2024 · bdff46c · bdff46c
1 parent 628ce94
commit bdff46c
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
@@ -514,8 +514,6 @@ std::vector<Polygon2d> getCollidedPolygons(
     const auto interpolated_data = getInterpolatedPoseWithVelocityAndPolygonStamped(
       predicted_ego_path, current_time, ego_vehicle_info);
     if (!interpolated_data) {
-      debug.expected_obj_pose = obj_pose;
-      debug.extended_obj_polygon = obj_polygon;
       continue;
     }
     const auto & ego_pose = interpolated_data->pose;