Skip to content

Commit 3ce0802

Browse files
veqccpre-commit-ci[bot]yuki-takagi-66
authored andcommitted
perf(behavior_path_dynamic_avoidance_module): use const reference (autowarefoundation#6981)
* perf(behavior_path_dynamic_avoidance_module): use const reference Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * style(pre-commit): autofix * add const to the other args --------- Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
1 parent 39a2e41 commit 3ce0802

File tree

1 file changed

+5
-5
lines changed
  • planning/behavior_path_dynamic_avoidance_module/src

1 file changed

+5
-5
lines changed

planning/behavior_path_dynamic_avoidance_module/src/scene.cpp

+5-5
Original file line numberDiff line numberDiff line change
@@ -1799,11 +1799,11 @@ DynamicAvoidanceModule::EgoPathReservePoly DynamicAvoidanceModule::calcEgoPathRe
17991799
ego_path_lines.push_back(tier4_autoware_utils::fromMsg(path_point.point.pose.position).to_2d());
18001800
}
18011801

1802-
auto calcReservePoly =
1803-
[&ego_path_lines](
1804-
strategy::distance_asymmetric<double> path_expand_strategy,
1805-
strategy::distance_asymmetric<double> steer_expand_strategy,
1806-
std::vector<geometry_msgs::msg::Point> outer_body_path) -> tier4_autoware_utils::Polygon2d {
1802+
auto calcReservePoly = [&ego_path_lines](
1803+
const strategy::distance_asymmetric<double> path_expand_strategy,
1804+
const strategy::distance_asymmetric<double> steer_expand_strategy,
1805+
const std::vector<geometry_msgs::msg::Point> & outer_body_path)
1806+
-> tier4_autoware_utils::Polygon2d {
18071807
// reserve area based on the reference path
18081808
tier4_autoware_utils::MultiPolygon2d path_poly;
18091809
boost::geometry::buffer(

0 commit comments

Comments
 (0)