fix(avoidance): fix invalid road shoulder distance calculation

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Apr 9, 2024 · 0f4cb74 · 0f4cb74
1 parent f5c30eb
commit 0f4cb74
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -872,8 +872,7 @@ double getRoadShoulderDistance(
       }
 
       {
-        const auto p2 =
-          calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -100.0 : 100.0), 0.0).position;
+        const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position;
         const auto opt_intersect =
           tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));