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fix(behavior_velocity): use pose for min velocity if the object is stopped #1052

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Jun 9, 2022
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fix(behavior_velocity): use pose for min velocity if the object is stopped #1052

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d45e71d
fix(behavior_velocity): use pose for min velocity if the object is st…
TomohitoAndo Jun 7, 2022
26a63fd
fix typo
TomohitoAndo Jun 9, 2022
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13 changes: 9 additions & 4 deletions planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -505,10 +505,15 @@ std::vector<geometry_msgs::msg::Point> RunOutModule::createBoundingBoxForRangedP
tier4_autoware_utils::calcDistance2d(pose_with_range.pose_min, pose_with_range.pose_max);

geometry_msgs::msg::Pose p_min_to_p_max;
const auto azimuth_angle = tier4_autoware_utils::calcAzimuthAngle(
pose_with_range.pose_min.position, pose_with_range.pose_max.position);
p_min_to_p_max.position = pose_with_range.pose_min.position;
p_min_to_p_max.orientation = tier4_autoware_utils::createQuaternionFromYaw(azimuth_angle);
if (dist_p1_p2 < std::numeric_limits<double>::epsilon()) {
// can't calculate the angle if two points are the same
p_min_to_p_max = pose_with_range.pose_min;
} else {
const auto azimuth_angle = tier4_autoware_utils::calcAzimuthAngle(
pose_with_range.pose_min.position, pose_with_range.pose_max.position);
p_min_to_p_max.position = pose_with_range.pose_min.position;
p_min_to_p_max.orientation = tier4_autoware_utils::createQuaternionFromYaw(azimuth_angle);
}

std::vector<geometry_msgs::msg::Point> poly;
poly.emplace_back(
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