Skip to content

Commit b4875b4

Browse files
StepTurtlemehmetdogru
authored andcommitted
Change getLaneletSequence() function parameter with normal numbers because of the time consumption.
Signed-off-by: Barış Zeren <bzeren1819@gmail.com>
1 parent eea40ae commit b4875b4

File tree

1 file changed

+1
-1
lines changed

1 file changed

+1
-1
lines changed

planning/behavior_path_planner/src/planner_manager.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -428,7 +428,7 @@ BehaviorModuleOutput PlannerManager::getReferencePath(
428428
std::max(p.backward_path_length, p.backward_path_length + extra_margin);
429429

430430
const auto lanelet_sequence = route_handler->getLaneletSequence(
431-
root_lanelet_.value(), pose, backward_length, std::numeric_limits<double>::max());
431+
root_lanelet_.value(), pose, backward_length, p.forward_path_length);
432432

433433
lanelet::ConstLanelet closest_lane{};
434434
if (lanelet::utils::query::getClosestLaneletWithConstrains(

0 commit comments

Comments
 (0)