fix(static_obstacle_avoidance): remove invalid small shift lines (autowarefoundation#8344)

satoshi-ota · satoshi-ota · commit 8cb27230c71b · 2024-08-08T18:22:14.000+09:00
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
@@ -827,6 +827,8 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
   utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(
     data, debug.step1_front_shift_line);
 
+  applySmallShiftFilter(ret, 1e-3);
+
   return ret;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -827,6 +827,8 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(`
`827`	`827`	`utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(`
`828`	`828`	`data, debug.step1_front_shift_line);`
`829`	`829`
	`830`	`+ applySmallShiftFilter(ret, 1e-3);`
	`831`	`+`
`830`	`832`	`return ret;`
`831`	`833`	`}`
`832`	`834`