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fix(static_drivable_area_expansion): fix skip post process condition
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

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@@ -1463,11 +1463,10 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(
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throw std::domain_error("invalid case.");
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}
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const auto goal_is_in_freespace = boost::geometry::within(
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to2D(toLaneletPoint(route_handler->getGoalPose().position).basicPoint()),
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to2D(polygon).basicPolygon());
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return std::make_pair(expanded_bound, is_driving_freespace || goal_is_in_freespace);
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const auto skip_post_process = route_case == RouteCase::INIT_POS_IS_IN_FREESPACE ||
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route_case == RouteCase::GOAL_POS_IS_IN_FREESPACE ||
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is_driving_freespace;
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return std::make_pair(expanded_bound, skip_post_process);
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}
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std::vector<geometry_msgs::msg::Point> postProcess(

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