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fix(detection_area): fix overline function #930

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merged 3 commits into from
Oct 13, 2023
Merged

fix(detection_area): fix overline function #930

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9e30011
fix(detection_area): fix overline function
h-ohta Oct 12, 2023
82b71b1
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 12, 2023
f226e42
Merge branch 'beta/v0.3.17' into fix/behavior_velocity_detection
h-ohta Oct 13, 2023
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9 changes: 7 additions & 2 deletions planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -357,8 +357,13 @@ bool DetectionAreaModule::isOverLine(
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const geometry_msgs::msg::Pose & self_pose, const geometry_msgs::msg::Pose & line_pose) const
{
return tier4_autoware_utils::calcSignedArcLength(
path.points, self_pose.position, line_pose.position) < 0;
const PointWithSearchRangeIndex src_point_with_search_range_index =
planning_utils::findFirstNearSearchRangeIndex(path.points, self_pose.position);
const PointWithSearchRangeIndex dst_point_with_search_range_index = {
line_pose.position, planning_utils::getPathIndexRangeIncludeLaneId(path, lane_id_)};

return planning_utils::calcSignedArcLengthWithSearchIndex(
path.points, src_point_with_search_range_index, dst_point_with_search_range_index) < 0;
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}

bool DetectionAreaModule::hasEnoughBrakingDistance(
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