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fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

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merged 3 commits into from
Jun 14, 2022
Merged

fix(obstacle_cruise_planner): use absolute value in lateraloffset to filter on obstacles #1083

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f63aa85
use-absolute-value-in-lateraloffset-to-filter-on-Obstacles
shulanbushangshu Jun 13, 2022
471a8c3
ci(pre-commit): autofix
pre-commit-ci[bot] Jun 13, 2022
f99306c
Merge branch 'main' into use-absolute-value-in-lateraloffset-to-filte…
shulanbushangshu Jun 14, 2022
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4 changes: 3 additions & 1 deletion planning/obstacle_cruise_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -533,7 +533,9 @@ std::vector<TargetObstacle> ObstacleCruisePlannerNode::filterObstacles(
const double dist_from_obstacle_to_traj = [&]() {
return tier4_autoware_utils::calcLateralOffset(decimated_traj.points, object_pose.position);
}();
if (dist_from_obstacle_to_traj > obstacle_filtering_param_.rough_detection_area_expand_width) {
if (
std::fabs(dist_from_obstacle_to_traj) >
obstacle_filtering_param_.rough_detection_area_expand_width) {
RCLCPP_INFO_EXPRESSION(
get_logger(), is_showing_debug_info_,
"Ignore obstacles since it is far from the trajectory.");
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