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fix(out_of_lane): fix condition to keep using previous stop pose within some time buffer #10140

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merged 2 commits into from
Mar 10, 2025
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fix(out_of_lane): fix condition to keep using previous stop pose within some time buffer #10140

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4cb33f1
fix time buffer
maxime-clem Feb 17, 2025
f67c270
Merge branch 'main' into out_of_lane/fix_time_buffer
maxime-clem Mar 10, 2025
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2 changes: 1 addition & 1 deletion ...n_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -295,7 +295,7 @@ VelocityPlanningResult OutOfLaneModule::plan(
ego_data.trajectory_points, 0LU, previous_slowdown_pose_->position);
return prev_arc_length < arc_length;
}
return slowdown_pose && previous_slowdown_pose_;
return !slowdown_pose && previous_slowdown_pose_;
}();
if (should_use_previous_pose) {
// if the trajectory changed the prev point is no longer on the trajectory so we project it
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