File tree 1 file changed +2
-0
lines changed
planning/behavior_path_planner/src/marker_utils
1 file changed +2
-0
lines changed Original file line number Diff line number Diff line change 18
18
#include " behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
19
19
#include " behavior_path_planner/utils/path_utils.hpp"
20
20
21
+ #include < tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
21
22
#include < tier4_autoware_utils/ros/marker_helper.hpp>
22
23
#include < tier4_autoware_utils/ros/uuid_helper.hpp>
23
24
@@ -45,6 +46,7 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj)
45
46
{
46
47
CollisionCheckDebug debug;
47
48
debug.current_obj_pose = obj.initial_pose .pose ;
49
+ debug.extended_obj_polygon = tier4_autoware_utils::toPolygon2d (obj.initial_pose .pose , obj.shape );
48
50
debug.current_twist = obj.initial_twist .twist ;
49
51
return {tier4_autoware_utils::toHexString (obj.uuid ), debug};
50
52
}
You can’t perform that action at this time.
0 commit comments