From 4676d069fe2cd478b482dd8ac9474a826b274d0c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 31 Jan 2025 16:24:14 +0900 Subject: [PATCH] fix(motion_velocity_planner_common): fix the calc_possible_min_dist_from_obj_to_traj_poly calculation Signed-off-by: Takayuki Murooka --- .../src/utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp index de86f64fa7965..cf1e888116616 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp @@ -169,7 +169,7 @@ double calc_possible_min_dist_from_obj_to_traj_poly( const double object_possible_max_dist = calc_object_possible_max_dist_from_center(object->predicted_object.shape); const double possible_min_dist_to_traj_poly = - std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m - + std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m / 2.0 - object_possible_max_dist; return possible_min_dist_to_traj_poly; }