From 74bd8edda40df926b437c522b986e27d37e5c451 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 3 Sep 2024 13:15:32 +0900 Subject: [PATCH] fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (#8721) * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (#8344)" This reverts commit 2705a63817f02ecfa705960459438763225ea6cf. * fix(static_obstacle_avoidance): remove invalid small shift lines Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/shift_line_generator.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 57a6e340bf853..e9950b56ce174 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -812,7 +812,7 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( // fill gap among shift lines. for (size_t i = 0; i < sorted.size() - 1; ++i) { - if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal) { + if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal + 1e-3) { continue; } @@ -827,8 +827,6 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal( data, debug.step1_front_shift_line); - applySmallShiftFilter(ret, 1e-3); - return ret; }