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planning/autoware_behavior_velocity_planner/src/node.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -436,11 +436,12 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath
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std::make_shared<const PlannerData>(planner_data), *input_path_msg);
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// screening
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const auto filtered_path = ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
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const auto filtered_path =
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::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
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// interpolation
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const auto interpolated_path_msg =
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::behavior_velocity_planner::interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
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const auto interpolated_path_msg = ::behavior_velocity_planner::interpolatePath(
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filtered_path, forward_path_length_, behavior_output_path_interval_);
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// check stop point
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output_path_msg = ::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg);

planning/autoware_behavior_velocity_planner/src/node.hpp

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@@ -49,8 +49,8 @@ namespace autoware::behavior_velocity_planner
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using autoware_auto_mapping_msgs::msg::HADMapBin;
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using autoware_behavior_velocity_planner::srv::LoadPlugin;
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using autoware_behavior_velocity_planner::srv::UnloadPlugin;
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using tier4_planning_msgs::msg::VelocityLimit;
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using ::behavior_velocity_planner::TrafficSignalStamped;
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using tier4_planning_msgs::msg::VelocityLimit;
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class BehaviorVelocityPlannerNode : public rclcpp::Node
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{

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