replace generateCenterLinePath

Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Oct 3, 2024 · e780f77 · e780f77
1 parent 9d69b36
commit e780f77
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -1078,8 +1078,7 @@ FilteredByLanesExtendedObjects NormalLaneChange::filterObjects() const
     return {};
   }
 
-  const auto path =
-    route_handler->getCenterLinePath(current_lanes, 0.0, std::numeric_limits<double>::max());
+  const auto & path = common_data_ptr_->current_lanes_path;
 
   auto filtered_by_lanes_objects = filterObjectsByLanelets(objects, path);