@@ -87,12 +87,8 @@ boost::optional<LineString2d> NoStoppingAreaModule::getStopLineGeometry2d(
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const LineString2d line{{p0.x , p0.y }, {p1.x , p1.y }};
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std::vector<Point2d> collision_points;
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bg::intersection (area_poly, line, collision_points);
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- if (collision_points.empty ()) {
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- continue ;
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- }
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- const double yaw = tier4_autoware_utils::calcAzimuthAngle (p0, p1);
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if (!collision_points.empty ()) {
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- geometry_msgs::msg:: Point left_point ;
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+ const double yaw = tier4_autoware_utils::calcAzimuthAngle (p0, p1) ;
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const double w = planner_data_->vehicle_info_ .vehicle_width_m ;
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const double l = stop_line_margin;
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stop_line.emplace_back (
@@ -306,7 +302,6 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
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const int num_ignore_nearest = 1 ; // Do not consider nearest lane polygon
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size_t ego_area_start_idx = closest_idx + num_ignore_nearest;
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- size_t ego_area_end_idx = ego_area_start_idx;
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// return if area size is not intentional
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if (no_stopping_area_reg_elem_.noStoppingAreas ().size () != 1 ) {
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return ego_area;
@@ -330,7 +325,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
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}
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double dist_from_area_sum = 0.0 ;
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// decide end idx with extract distance
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- ego_area_end_idx = ego_area_start_idx;
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+ size_t ego_area_end_idx = ego_area_start_idx;
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for (size_t i = ego_area_start_idx; i < pp.size () - 1 ; ++i) {
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dist_from_start_sum += tier4_autoware_utils::calcDistance2d (pp.at (i), pp.at (i - 1 ));
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const auto & p = pp.at (i).point .pose .position ;
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