fix(start_planner): update drivable area info and enable idle to running state transition (autowarefoundation#6172)

kyoichi-sugahara · web-flow · commit 4e0b4ac964ad · 2024-01-26T16:03:48.000+09:00
Update drivable area info and enable idle to running state transition

Signed-off-by: kyoichi-sugahara &lt;kyoichi.sugahara@tier4.jp&gt;
diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -1884,6 +1884,10 @@ DrivableAreaInfo combineDrivableAreaInfo(
     drivable_area_info1.enable_expanding_intersection_areas ||
     drivable_area_info2.enable_expanding_intersection_areas;
 
+  // drivable margin
+  combined_drivable_area_info.drivable_margin =
+    std::max(drivable_area_info1.drivable_margin, drivable_area_info2.drivable_margin);
+
   return combined_drivable_area_info;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -1884,6 +1884,10 @@ DrivableAreaInfo combineDrivableAreaInfo(`
`1884`	`1884`	`drivable_area_info1.enable_expanding_intersection_areas \|\|`
`1885`	`1885`	`drivable_area_info2.enable_expanding_intersection_areas;`
`1886`	`1886`
	`1887`	`+ // drivable margin`
	`1888`	`+ combined_drivable_area_info.drivable_margin =`
	`1889`	`+ std::max(drivable_area_info1.drivable_margin, drivable_area_info2.drivable_margin);`
	`1890`	`+`
`1887`	`1891`	`return combined_drivable_area_info;`
`1888`	`1892`	`}`
`1889`	`1893`