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planning/behavior_path_start_planner_module/src/start_planner_module.cpp

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@@ -683,9 +683,8 @@ bool StartPlannerModule::findPullOutPath(
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// extract stop objects in pull out lane for collision check
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const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity(
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*dynamic_objects, parameters_->th_moving_object_velocity);
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auto [pull_out_lane_stop_objects, others] =
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utils::path_safety_checker::separateObjectsByLanelets(
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stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet);
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auto [pull_out_lane_stop_objects, others] = utils::path_safety_checker::separateObjectsByLanelets(
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stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet);
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utils::path_safety_checker::filterObjectsByClass(
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pull_out_lane_stop_objects, parameters_->object_types_to_check_for_path_generation);
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