From dfd0ee7588f28daabdd15a04af5ea6b041da35e0 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 25 Jul 2023 10:32:29 +0900
Subject: [PATCH] fix(dynamic_avoidance): fix bug of emplacing existing object
 (#4384)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../dynamic_avoidance/dynamic_avoidance_module.hpp          | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
index fc477d485dfcc..d43e1d08050e7 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
@@ -198,7 +198,11 @@ class DynamicAvoidanceModule : public SceneModuleInterface
     }
     void update(const std::string & uuid, const double new_variable)
     {
-      variable_.emplace(uuid, new_variable);
+      if (variable_.count(uuid) != 0) {
+        variable_.at(uuid) = new_variable;
+      } else {
+        variable_.emplace(uuid, new_variable);
+      }
     }
 
     std::unordered_map<std::string, double> variable_;