From 0f4cb74415654cd3599838d769500885db5ac2f5 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 9 Apr 2024 17:00:46 +0900 Subject: [PATCH] fix(avoidance): fix invalid road shoulder distance calculation Signed-off-by: satoshi-ota --- planning/behavior_path_avoidance_module/src/utils.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index fdb2b9b71c78..b29f2245f1e6 100644 --- 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));