fix dead node

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Oct 29, 2023 · 1294b96 · 1294b96
1 parent e438ee7
commit 1294b96
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -1288,14 +1288,14 @@ bool NormalLaneChange::getLaneChangePaths(
           lane_changing_length, forward_path_length, resample_interval, is_goal_in_route,
           next_lane_change_buffer);
 
-        lane_change_info.shift_line = utils::lane_change::getLaneChangingShiftLine(
-          prepare_segment, target_segment, target_lane_reference_path, shift_length);
-
         if (target_lane_reference_path.points.empty()) {
           debug_print("Reject: target_lane_reference_path is empty!!");
           continue;
         }
 
+        lane_change_info.shift_line = utils::lane_change::getLaneChangingShiftLine(
+          prepare_segment, target_segment, target_lane_reference_path, shift_length);
+
         const auto candidate_path = utils::lane_change::constructCandidatePath(
           lane_change_info, prepare_segment, target_segment, target_lane_reference_path,
           sorted_lane_ids);