fix(avoidance): fix invalid road bound distance calculation (autowarefoundation#6781)

satoshi-ota · satoshi-ota · commit 783f6e8b8690 · 2024-04-11T15:49:40.000+09:00
fix(avoidance): fix invalid road shoulder distance calculation

Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -966,8 +966,7 @@ double getRoadShoulderDistance(
       }
 
       {
-        const auto p2 =
-          calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -100.0 : 100.0), 0.0).position;
+        const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position;
         const auto opt_intersect =
           tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));
 

Original file line number	Diff line number	Diff line change
`@@ -966,8 +966,7 @@ double getRoadShoulderDistance(`
`966`	`966`	`}`
`967`	`967`
`968`	`968`	`{`
`969`		`- const auto p2 =`
`970`		`- calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -100.0 : 100.0), 0.0).position;`
	`969`	`+ const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position;`
`971`	`970`	`const auto opt_intersect =`
`972`	`971`	`tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));`
`973`	`972`