remove isWaitingApproval() from state transition

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Jan 11, 2024 · 72a693d · 72a693d
1 parent 0c92e1c
commit 72a693d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -303,7 +303,7 @@ bool LaneChangeInterface::canTransitIdleToWaitingApprovalState()
 
   log_debug_throttled(__func__);
 
-  if (!isActivated() || isWaitingApproval()) {
+  if (!isActivated()) {
     if (module_type_->specialRequiredCheck()) {
       return true;
     }

diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -340,7 +340,7 @@ bool StartPlannerModule::canTransitSuccessState()
 
 bool StartPlannerModule::canTransitIdleToWaitingApprovalState()
 {
-  return isActivated() && !isWaitingApproval();
+  return isActivated();
 }
 
 BehaviorModuleOutput StartPlannerModule::plan()