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2 files changed

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planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/obstacle_stop_module.hpp

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Original file line numberDiff line numberDiff line change
@@ -170,7 +170,7 @@ class ObstacleStopModule : public PluginModuleInterface
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const std::shared_ptr<PlannerData::Object> object, const double dist_to_bumper,
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const std::vector<Polygon2d> & decimated_traj_polys_with_lat_margin,
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const std::optional<std::pair<geometry_msgs::msg::Point, double>> & collision_point) const;
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std::optional<std::pair<geometry_msgs::msg::Point, double>> get_nearest_collision_point(
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const std::vector<TrajectoryPoint> & traj_points, const std::vector<Polygon2d> & traj_polygons,
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const PlannerData::Pointcloud & point_cloud, const VehicleInfo & vehicle_info,

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/types.hpp

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -69,11 +69,10 @@ struct StopObstacle
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{
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}
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StopObstacle(
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const rclcpp::Time & arg_stamp, const bool arg_is_point_cloud,
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const double arg_lon_velocity, const geometry_msgs::msg::Point & arg_collision_point,
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const rclcpp::Time & arg_stamp, const bool arg_is_point_cloud, const double arg_lon_velocity,
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const geometry_msgs::msg::Point & arg_collision_point,
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const double arg_dist_to_collide_on_decimated_traj, const double arg_braking_dist = 0.0)
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:
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stamp(arg_stamp),
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: stamp(arg_stamp),
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velocity(arg_lon_velocity),
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collision_point(arg_collision_point),
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dist_to_collide_on_decimated_traj(arg_dist_to_collide_on_decimated_traj),

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