Merge pull request #1800 from tier4/sync-awf-latest

tier4-autoware-public-bot[bot] · web-flow · commit 2bee1e031f80 · 2025-02-11T11:55:09.000Z
chore: sync awf-latest
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -662,20 +662,15 @@ std::optional<size_t> getOverlappedLaneletId(const std::vector<DrivableLanes> &
     return {};
   }
 
-  size_t overlapped_idx = lanes.size();
   for (size_t i = 0; i < lanes.size() - 2; ++i) {
     for (size_t j = i + 2; j < lanes.size(); ++j) {
       if (overlaps(lanes.at(i), lanes.at(j))) {
-        overlapped_idx = std::min(overlapped_idx, j);
+        return j;
       }
     }
   }
 
-  if (overlapped_idx == lanes.size()) {
-    return {};
-  }
-
-  return overlapped_idx;
+  return {};
 }
 
 std::vector<DrivableLanes> cutOverlappedLanes(

Original file line number	Diff line number	Diff line change
`@@ -662,20 +662,15 @@ std::optional<size_t> getOverlappedLaneletId(const std::vector<DrivableLanes> &`
`662`	`662`	`return {};`
`663`	`663`	`}`
`664`	`664`
`665`		`- size_t overlapped_idx = lanes.size();`
`666`	`665`	`for (size_t i = 0; i < lanes.size() - 2; ++i) {`
`667`	`666`	`for (size_t j = i + 2; j < lanes.size(); ++j) {`
`668`	`667`	`if (overlaps(lanes.at(i), lanes.at(j))) {`
`669`		`- overlapped_idx = std::min(overlapped_idx, j);`
	`668`	`+ return j;`
`670`	`669`	`}`
`671`	`670`	`}`
`672`	`671`	`}`
`673`	`672`
`674`		`- if (overlapped_idx == lanes.size()) {`
`675`		`- return {};`
`676`		`- }`
`677`		`-`
`678`		`- return overlapped_idx;`
	`673`	`+ return {};`
`679`	`674`	`}`
`680`	`675`
`681`	`676`	`std::vector<DrivableLanes> cutOverlappedLanes(`