Merge pull request #1137 from tier4/hotfix/v0.20.1/avoidance-2

shmpwk · web-flow · commit bb0fec3f145f · 2024-02-08T18:55:17.000+09:00
fix(static_drivable_area_expansion): fix invalid z-pos (autowarefoundation#6357)
diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -1347,7 +1347,7 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(
 
       if (intersect.has_value()) {
         ret.emplace_back(
-          lanelet::InvalId, intersect.value().x, intersect.value().y, intersect.value().z);
+          lanelet::InvalId, intersect.value().x, intersect.value().y, toGeomMsgPt(bound.at(i)).z);
         break;
       }
     }

Original file line number	Diff line number	Diff line change
`@@ -1347,7 +1347,7 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(`
`1347`	`1347`
`1348`	`1348`	`if (intersect.has_value()) {`
`1349`	`1349`	`ret.emplace_back(`
`1350`		`- lanelet::InvalId, intersect.value().x, intersect.value().y, intersect.value().z);`
	`1350`	`+ lanelet::InvalId, intersect.value().x, intersect.value().y, toGeomMsgPt(bound.at(i)).z);`
`1351`	`1351`	`break;`
`1352`	`1352`	`}`
`1353`	`1353`	`}`