@@ -77,17 +77,15 @@ class AvoidanceModule : public SceneModuleInterface
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{
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if (candidate.lateral_shift > 0.0 ) {
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rtc_interface_ptr_map_.at (" left" )->updateCooperateStatus (
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- uuid_map_.at (" left" ), isExecutionReady (), State::WAITING_FOR_EXECUTION,
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- candidate.start_distance_to_path_change , candidate.finish_distance_to_path_change ,
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- clock_->now ());
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+ uuid_map_.at (" left" ), isExecutionReady (), candidate.start_distance_to_path_change ,
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+ candidate.finish_distance_to_path_change , clock_->now ());
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candidate_uuid_ = uuid_map_.at (" left" );
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return ;
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}
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if (candidate.lateral_shift < 0.0 ) {
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rtc_interface_ptr_map_.at (" right" )->updateCooperateStatus (
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- uuid_map_.at (" right" ), isExecutionReady (), State::WAITING_FOR_EXECUTION,
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- candidate.start_distance_to_path_change , candidate.finish_distance_to_path_change ,
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- clock_->now ());
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+ uuid_map_.at (" right" ), isExecutionReady (), candidate.start_distance_to_path_change ,
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+ candidate.finish_distance_to_path_change , clock_->now ());
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candidate_uuid_ = uuid_map_.at (" right" );
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return ;
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}
@@ -110,7 +108,7 @@ class AvoidanceModule : public SceneModuleInterface
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motion_utils::calcSignedArcLength (path.points , ego_idx, left_shift.start_pose .position );
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const double finish_distance = start_distance + left_shift.relative_longitudinal ;
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rtc_interface_ptr_map_.at (" left" )->updateCooperateStatus (
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- left_shift.uuid , true , State::RUNNING, start_distance, finish_distance, clock_->now ());
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+ left_shift.uuid , true , start_distance, finish_distance, clock_->now ());
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if (finish_distance > -1.0e-03 ) {
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steering_factor_interface_ptr_->updateSteeringFactor (
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{left_shift.start_pose , left_shift.finish_pose }, {start_distance, finish_distance},
@@ -123,7 +121,7 @@ class AvoidanceModule : public SceneModuleInterface
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motion_utils::calcSignedArcLength (path.points , ego_idx, right_shift.start_pose .position );
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const double finish_distance = start_distance + right_shift.relative_longitudinal ;
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rtc_interface_ptr_map_.at (" right" )->updateCooperateStatus (
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- right_shift.uuid , true , State::RUNNING, start_distance, finish_distance, clock_->now ());
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+ right_shift.uuid , true , start_distance, finish_distance, clock_->now ());
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if (finish_distance > -1.0e-03 ) {
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steering_factor_interface_ptr_->updateSteeringFactor (
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{right_shift.start_pose , right_shift.finish_pose }, {start_distance, finish_distance},
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