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add some TODOs
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp

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@@ -34,6 +34,7 @@ Overlap calculate_overlap(
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Overlap overlap;
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const auto & left_bound = lanelet.leftBound2d().basicLineString();
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const auto & right_bound = lanelet.rightBound2d().basicLineString();
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// TODO(Maxime): these intersects (for each path footprint, for each lanelet) are too expensive
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const auto overlap_left = boost::geometry::intersects(path_footprint, left_bound);
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const auto overlap_right = boost::geometry::intersects(path_footprint, right_bound);
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planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp

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@@ -99,6 +99,7 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
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});
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if (overlapped_lanelet_it != other_lanelets.end()) {
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debug_data_.current_overlapped_lanelets.push_back(*overlapped_lanelet_it);
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// TODO(Maxime): we may want to just add the overlapped lane to the ignored lanelets
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RCLCPP_DEBUG(logger_, "Ego is already overlapping a lane, skipping the module ()\n");
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return true;
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}

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