fix(static_drivable_area_expansion): fix skip post process condition

satoshi-ota · satoshi-ota · commit 5296feb24fe0 · 2024-02-09T08:45:54.000+09:00
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&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
@@ -1463,11 +1463,10 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(
       throw std::domain_error("invalid case.");
   }
 
-  const auto goal_is_in_freespace = boost::geometry::within(
-    to2D(toLaneletPoint(route_handler->getGoalPose().position).basicPoint()),
-    to2D(polygon).basicPolygon());
-
-  return std::make_pair(expanded_bound, is_driving_freespace || goal_is_in_freespace);
+  const auto skip_post_process = route_case == RouteCase::INIT_POS_IS_IN_FREESPACE ||
+                                 route_case == RouteCase::GOAL_POS_IS_IN_FREESPACE ||
+                                 is_driving_freespace;
+  return std::make_pair(expanded_bound, skip_post_process);
 }
 
 std::vector<geometry_msgs::msg::Point> postProcess(

Original file line number	Diff line number	Diff line change
`@@ -1463,11 +1463,10 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(`
`1463`	`1463`	`throw std::domain_error("invalid case.");`
`1464`	`1464`	`}`
`1465`	`1465`
`1466`		`- const auto goal_is_in_freespace = boost::geometry::within(`
`1467`		`- to2D(toLaneletPoint(route_handler->getGoalPose().position).basicPoint()),`
`1468`		`- to2D(polygon).basicPolygon());`
`1469`		`-`
`1470`		`- return std::make_pair(expanded_bound, is_driving_freespace \|\| goal_is_in_freespace);`
	`1466`	`+ const auto skip_post_process = route_case == RouteCase::INIT_POS_IS_IN_FREESPACE \|\|`
	`1467`	`+ route_case == RouteCase::GOAL_POS_IS_IN_FREESPACE \|\|`
	`1468`	`+ is_driving_freespace;`
	`1469`	`+ return std::make_pair(expanded_bound, skip_post_process);`
`1471`	`1470`	`}`
`1472`	`1471`
`1473`	`1472`	`std::vector<geometry_msgs::msg::Point> postProcess(`