Merge pull request #1444 from tier4/hotfix/v0.32.0/cherry-pick-avoidance

rej55 · web-flow · commit a250b936a3e8 · 2024-08-06T10:15:08.000+09:00
fix(static_obstacle_avoidance): remove invalid small shift lines
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
@@ -827,6 +827,8 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
   utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(
     data, debug.step1_front_shift_line);
 
+  applySmallShiftFilter(ret, 1e-3);
+
   return ret;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -827,6 +827,8 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(`
`827`	`827`	`utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(`
`828`	`828`	`data, debug.step1_front_shift_line);`
`829`	`829`
	`830`	`+ applySmallShiftFilter(ret, 1e-3);`
	`831`	`+`
`830`	`832`	`return ret;`
`831`	`833`	`}`
`832`	`834`