From bf679e94fe2dfd03259f6fdb39ea757145fa0483 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Mon, 25 Sep 2023 18:25:30 +0900 Subject: [PATCH] remove accidentally added code Signed-off-by: Zulfaqar Azmi --- .../src/scene_module/lane_change/normal.cpp | 12 +++--------- 1 file changed, 3 insertions(+), 9 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 index e1d91f5defa5e..2d845c6ab5461 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -734,15 +734,9 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject( } } - const auto check_backward_polygon = [&](const auto & target_backward_polygon) { - if ( - target_backward_polygon && - boost::geometry::intersects(target_backward_polygon.value(), obj_polygon)) { - const auto lateral = tier4_autoware_utils::calcLateralDeviation( - current_pose, object.kinematics.initial_pose_with_covariance.pose.position); - return (std::abs(lateral) > common_parameters.vehicle_width); - } - return false; + const auto check_backward_polygon = [&obj_polygon](const auto & target_backward_polygon) { + return target_backward_polygon && + boost::geometry::intersects(target_backward_polygon.value(), obj_polygon); }; // check if the object intersects with target backward lanes