fix(goal_planner): fix updateCollisionCheckDebugMap timing in checkSafetyWithIntegralPredictedPolygon (autowarefoundation#6413)

kosuke55 · web-flow · commit 3bb5764e3eab · 2024-02-17T19:42:21.000+09:00
Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;
diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
@@ -543,9 +543,9 @@ bool checkSafetyWithIntegralPredictedPolygon(
           updateCollisionCheckDebugMap(debug_map, debug_pair, /*is_safe=*/false);
           return false;
         }
-        updateCollisionCheckDebugMap(debug_map, debug_pair, /*is_safe=*/true);
       }
     }
+    updateCollisionCheckDebugMap(debug_map, debug_pair, /*is_safe=*/true);
   }
   return true;
 }

Original file line number	Diff line number	Diff line change
`@@ -543,9 +543,9 @@ bool checkSafetyWithIntegralPredictedPolygon(`
`543`	`543`	`updateCollisionCheckDebugMap(debug_map, debug_pair, /is_safe=/false);`
`544`	`544`	`return false;`
`545`	`545`	`}`
`546`		`- updateCollisionCheckDebugMap(debug_map, debug_pair, /is_safe=/true);`
`547`	`546`	`}`
`548`	`547`	`}`
	`548`	`+ updateCollisionCheckDebugMap(debug_map, debug_pair, /is_safe=/true);`
`549`	`549`	`}`
`550`	`550`	`return true;`
`551`	`551`	`}`