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  • planning/behavior_path_dynamic_avoidance_module/src

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planning/behavior_path_dynamic_avoidance_module/src/scene.cpp

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@@ -1799,11 +1799,11 @@ DynamicAvoidanceModule::EgoPathReservePoly DynamicAvoidanceModule::calcEgoPathRe
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ego_path_lines.push_back(tier4_autoware_utils::fromMsg(path_point.point.pose.position).to_2d());
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}
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auto calcReservePoly =
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[&ego_path_lines](
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strategy::distance_asymmetric<double> path_expand_strategy,
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strategy::distance_asymmetric<double> steer_expand_strategy,
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const std::vector<geometry_msgs::msg::Point> & outer_body_path) -> tier4_autoware_utils::Polygon2d {
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auto calcReservePoly = [&ego_path_lines](
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strategy::distance_asymmetric<double> path_expand_strategy,
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strategy::distance_asymmetric<double> steer_expand_strategy,
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const std::vector<geometry_msgs::msg::Point> & outer_body_path)
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-> tier4_autoware_utils::Polygon2d {
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// reserve area based on the reference path
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tier4_autoware_utils::MultiPolygon2d path_poly;
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boost::geometry::buffer(

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