From cbd60c68d2a03d2d5fcdf7b1d9edfa2924ea96f9 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 11 Apr 2024 17:12:33 +0900 Subject: [PATCH] fix(avoidance): fix invalid road bound distance calculation (#6781) (#1250) fix(avoidance): fix invalid road shoulder distance calculation Signed-off-by: satoshi-ota --- planning/behavior_path_avoidance_module/src/utils.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index 4cac3a501334c..521f29f93a44b 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -966,8 +966,7 @@ double getRoadShoulderDistance( } { - const auto p2 = - calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -100.0 : 100.0), 0.0).position; + const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position; const auto opt_intersect = tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));