revert(lane_change): remove terminal in abort path

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · May 16, 2024 · 5f8318c · 5f8318c
1 parent ad46e3c
commit 5f8318c
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp
@@ -1974,11 +1974,11 @@ bool NormalLaneChange::calcAbortPath()
 
   auto reference_lane_segment = prev_module_output_.path;
   {
-    const auto terminal_path =
-      calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes);
-    if (terminal_path) {
-      reference_lane_segment = terminal_path->path;
-    }
+    // const auto terminal_path =
+    //   calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes);
+    // if (terminal_path) {
+    //   reference_lane_segment = terminal_path->path;
+    // }
     const auto return_pose = shifted_path.path.points.at(abort_return_idx).point.pose;
     const auto seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
       reference_lane_segment.points, return_pose, common_param.ego_nearest_dist_threshold,