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planning/autoware_behavior_velocity_no_stopping_area_module/src
1 file changed +3
-6
lines changed Original file line number Diff line number Diff line change @@ -317,7 +317,9 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
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}
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++ego_area_start_idx;
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}
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-
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+ if (ego_area_start_idx > num_ignore_nearest) {
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+ ego_area_start_idx--;
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+ }
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if (!is_in_area) {
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return ego_area;
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}
@@ -329,11 +331,6 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
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const auto & p = pp.at (i).point .pose .position ;
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if (!bg::within (Point2d{p.x , p.y }, lanelet::utils::to2D (no_stopping_area).basicPolygon ())) {
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dist_from_area_sum += tier4_autoware_utils::calcDistance2d (pp.at (i), pp.at (i - 1 ));
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-
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- // do not take extra distance and exit as soon as p is outside no stopping area
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- // just a temporary fix
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- ego_area_end_idx = i - 1 ;
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- break ;
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}
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if (dist_from_start_sum > extra_dist || dist_from_area_sum > margin) {
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break ;
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