doc: add notification to duplicated lane matching algorithm

Signed-off-by: Kotaro Yoshimoto <[email protected]>
tier4 · Feb 19, 2024 · 4e7f42f · 4e7f42f
1 parent 3871e20
commit 4e7f42f
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 0 deletions.
diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -473,6 +473,7 @@ auto EgoEntitySimulation::fillLaneletDataAndSnapZToLanelet(
     traffic_simulator::helper::getUniqueValues(autoware->getRouteLanelets());
   std::optional<traffic_simulator_msgs::msg::LaneletPose> lanelet_pose;
 
+  // the lanelet matching algorithm should be equivalent to the one used in EgoEntity::setMapPose
   const auto get_matching_length = [&] {
     return std::max(
              vehicle_parameters.axles.front_axle.track_width,

diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp
@@ -275,6 +275,8 @@ auto EgoEntity::setMapPose(const geometry_msgs::msg::Pose & map_pose) -> void
 {
   const auto unique_route_lanelets = traffic_simulator::helper::getUniqueValues(getRouteLanelets());
   std::optional<traffic_simulator_msgs::msg::LaneletPose> lanelet_pose;
+
+  // the lanelet matching algorithm should be equivalent to the one used in EgoEntitySimulation::fillLaneletDataAndSnapZToLanelet
   const auto get_matching_length = [&] {
     return std::max(
              vehicle_parameters.axles.front_axle.track_width,