fix(start_planner): update drivable area info and enable idle to runn…

…ing state transition (autowarefoundation#6172) Update drivable area info and enable idle to running state transition Signed-off-by: kyoichi-sugahara <[email protected]>
tier4 · Jan 26, 2024 · 4e0b4ac · 4e0b4ac
1 parent 94fb009
commit 4e0b4ac
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -1884,6 +1884,10 @@ DrivableAreaInfo combineDrivableAreaInfo(
     drivable_area_info1.enable_expanding_intersection_areas ||
     drivable_area_info2.enable_expanding_intersection_areas;
 
+  // drivable margin
+  combined_drivable_area_info.drivable_margin =
+    std::max(drivable_area_info1.drivable_margin, drivable_area_info2.drivable_margin);
+
   return combined_drivable_area_info;
 }