chore(behavior_velocity): unite separated dist threshold

Signed-off-by: taikitanaka <ttatcoder@outlook.jp>
autowarefoundation · Feb 19, 2022 · e00ffdb · e00ffdb
1 parent 9a6f975
commit e00ffdb
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/trajectory/trajectory.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/trajectory/trajectory.hpp
@@ -338,18 +338,17 @@ template <class T>
 boost::optional<double> calcSignedArcLength(
   const T & points, const geometry_msgs::msg::Pose & src_pose,
   const geometry_msgs::msg::Pose & dst_pose,
-  const double max_src_dist = std::numeric_limits<double>::max(),
-  const double max_dst_dist = std::numeric_limits<double>::max(),
+  const double max_dist = std::numeric_limits<double>::max(),
   const double max_yaw = std::numeric_limits<double>::max())
 {
   validateNonEmpty(points);
 
-  const auto src_seg_idx = findNearestSegmentIndex(points, src_pose, max_src_dist, max_yaw);
+  const auto src_seg_idx = findNearestSegmentIndex(points, src_pose, max_dist, max_yaw);
   if (!src_seg_idx) {
     return boost::none;
   }
 
-  const auto dst_seg_idx = findNearestSegmentIndex(points, dst_pose, max_dst_dist, max_yaw);
+  const auto dst_seg_idx = findNearestSegmentIndex(points, dst_pose, max_dist, max_yaw);
   if (!dst_seg_idx) {
     return boost::none;
   }