From bdff46cd84a7964a98eec3cb15ed778accb74e91 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 26 Dec 2023 08:02:28 +0900 Subject: [PATCH] fix(safety_check): don't override collision polygon even if it doesn't find corresponding time pose (#5944) fix(safety_check): don't override collision polygon if it doesn't find corresponding time pose Signed-off-by: satoshi-ota --- .../src/utils/path_safety_checker/safety_check.cpp | 2 -- 1 file changed, 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 index f5d76f5cd4d35..bf93e71ab3591 100644 --- 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 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;