9.1.0
Description
NPC should detect another Entity with see_around even when the Entity does not overlap the center line of the lane which the NPC is on. This change allows to detect another NPC which overlap path of this NPC.
Abstract
This PR changes detection function of front entity in ActionNode.
Details
I've changed getDistanceToTargetEntityPolygon to use boundingBoxRelativeLaneletPose. It calculates relative pose between current NPC and another one. If absolute value of offset is less than half of NPC width it means that it intersects with current NPC path. If so distance to front entity is s of the pose enlarged by half of the length of NPC, as we need distance from the center.
Destructive Changes
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Known Limitations
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