fix(lane_change): fix object debug marker not having point (#5577)

zulfaqar-azmi-t4 · web-flow · commit dc5d76afeaf4 · 2023-11-14T07:33:19.000Z
Signed-off-by: Zulfaqar Azmi &lt;zulfaqar.azmi@tier4.jp&gt;
diff --git a/planning/behavior_path_planner/src/marker_utils/utils.cpp b/planning/behavior_path_planner/src/marker_utils/utils.cpp
@@ -18,6 +18,7 @@
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
@@ -45,6 +46,7 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj)
 {
   CollisionCheckDebug debug;
   debug.current_obj_pose = obj.initial_pose.pose;
+  debug.extended_obj_polygon = tier4_autoware_utils::toPolygon2d(obj.initial_pose.pose, obj.shape);
   debug.current_twist = obj.initial_twist.twist;
   return {tier4_autoware_utils::toHexString(obj.uuid), debug};
 }

Original file line number	Diff line number	Diff line change
`@@ -18,6 +18,7 @@`
`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`	`}`