fix build error

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Apr 18, 2024 · 19722a3 · 19722a3
1 parent 1ce82c2
commit 19722a3
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp
@@ -806,7 +806,7 @@ std::vector<double> NormalLaneChange::sampleLongitudinalAccValues(
   // if maximum lane change length is less than length to goal or the end of target lanes, only
   // sample max acc
   if (route_handler.isInGoalRouteSection(target_lanes.back())) {
-    const auto goal_pose = route_handler->getGoalPose();
+    const auto goal_pose = route_handler.getGoalPose();
     if (max_lane_change_length < utils::getSignedDistance(current_pose, goal_pose, target_lanes)) {
       RCLCPP_DEBUG(
         logger_, "Distance to goal has enough distance. Sample only max_acc: %f", max_acc);
@@ -1109,7 +1109,7 @@ PathWithLaneId NormalLaneChange::getTargetSegment(
 
   RCLCPP_DEBUG(logger_, "in %s start: %f, end: %f", __func__, s_start, s_end);
 
-  PathWithLaneId target_segment = route_handler->getCenterLinePath(target_lanes, s_start, s_end);
+  PathWithLaneId target_segment = route_handler.getCenterLinePath(target_lanes, s_start, s_end);
   for (auto & point : target_segment.points) {
     point.point.longitudinal_velocity_mps =
       std::min(point.point.longitudinal_velocity_mps, static_cast<float>(lane_changing_velocity));
@@ -1234,7 +1234,7 @@ bool NormalLaneChange::getLaneChangePaths(
   const auto longitudinal_acc_sampling_values =
     sampleLongitudinalAccValues(current_lanes, target_lanes);
 
-  const auto is_goal_in_route = route_handler->isInGoalRouteSection(target_lanes.back());
+  const auto is_goal_in_route = route_handler.isInGoalRouteSection(target_lanes.back());
 
   const double lane_change_buffer = utils::lane_change::calcMinimumLaneChangeLength(
     *lane_change_parameters_,