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fix(avoidance): unexpected road shoulder distance calculation result #6911

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merged 2 commits into from
May 16, 2024
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fix(avoidance): unexpected road shoulder distance calculation result #6911

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2946da3
fix(avoidance): unexpected road shoulder distance calculation result
satoshi-ota May 1, 2024
9365064
fix(avoidance): prevent division by zero
satoshi-ota May 7, 2024
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8 changes: 7 additions & 1 deletion planning/behavior_path_avoidance_module/src/utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_avoidance_module/src/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1791 to 1796, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
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}
}

const auto envelope_polygon_width =
boost::geometry::area(object.envelope_poly) /
std::max(object.length, 1e-3); // prevent division by zero

{
const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position;
const auto p2 =
calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -0.5 : 0.5) * envelope_polygon_width, 0.0)
.position;
const auto opt_intersect =
tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));

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