fix conflict

Signed-off-by: Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Nov 9, 2023 · 5ccb1ac · 5ccb1ac
1 parent 7b93452
commit 5ccb1ac
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -1359,10 +1359,10 @@ bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const
   auto pull_over_lane_stop_objects = pull_over_lane_objects;
   utils::path_safety_checker::filterObjectsByVelocity(
     pull_over_lane_stop_objects, parameters_->th_moving_object_velocity);
-  const auto common_parameters = planner_data_->parameters;
-  const double base_link2front = common_parameters.base_link2front;
-  const double base_link2rear = common_parameters.base_link2rear;
-  const double vehicle_width = common_parameters.vehicle_width;
+  std::vector<Polygon2d> obj_polygons;
+  for (const auto & object : pull_over_lane_stop_objects.objects) {
+    obj_polygons.push_back(tier4_autoware_utils::toPolygon2d(object));
+  }
 
   std::vector<Polygon2d> ego_polygons_expanded;
   const auto curvatures = motion_utils::calcCurvature(path.points);