From af94505c102aa3fbe95652168880f93308f7c53f Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Tue, 30 Jan 2024 07:36:09 +0900 Subject: [PATCH] add TODO comment Signed-off-by: kyoichi-sugahara --- .../src/shift_pull_out.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp index 85add22efef2f..8eca8479fbd44 100644 --- a/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -100,6 +100,12 @@ std::optional ShiftPullOut::plan(const Pose & start_pose, const Pos shift_path.points = cropped_path.points; // check lane departure + // The method for lane departure checking verifies if the footprint of each point on the path is + // contained within a lanelet using `boost::geometry::within`, which incurs a high computational + // cost. + // TODO(someone): improve the method for detecting lane departures without using + // lanelet::ConstLanelets, making it unnecessary to retain departure_check_lanes_ as a member + // variable. if ( parameters_.check_shift_path_lane_departure && lane_departure_checker_->checkPathWillLeaveLane(