fix(avoidance): fix shift line generation logic (#3099)

satoshi-ota · web-flow · commit 84c72cd4e481 · 2023-03-24T16:29:53.000+09:00
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -1115,8 +1115,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
         if (!data.avoiding_now) {
           o.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO;
           debug.unavoidable_objects.push_back(o);
+          continue;
         }
-        continue;
       }
 
       // This is the case of exceeding the jerk limit. Use the sharp avoidance ego speed.
@@ -1129,8 +1129,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(
         if (!data.avoiding_now) {
           o.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;
           debug.unavoidable_objects.push_back(o);
+          continue;
         }
-        continue;
       }
     }
     const auto avoiding_distance =

Original file line number	Diff line number	Diff line change
`@@ -1115,8 +1115,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(`
`1115`	`1115`	`if (!data.avoiding_now) {`
`1116`	`1116`	`o.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO;`
`1117`	`1117`	`debug.unavoidable_objects.push_back(o);`
	`1118`	`+ continue;`
`1118`	`1119`	`}`
`1119`		`- continue;`
`1120`	`1120`	`}`
`1121`	`1121`
`1122`	`1122`	`// This is the case of exceeding the jerk limit. Use the sharp avoidance ego speed.`
`@@ -1129,8 +1129,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects(`
`1129`	`1129`	`if (!data.avoiding_now) {`
`1130`	`1130`	`o.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;`
`1131`	`1131`	`debug.unavoidable_objects.push_back(o);`
	`1132`	`+ continue;`
`1132`	`1133`	`}`
`1133`		`- continue;`
`1134`	`1134`	`}`
`1135`	`1135`	`}`
`1136`	`1136`	`const auto avoiding_distance =`